From 887fd0cdba32d96deaec125b90810e77ee1a4a8a Mon Sep 17 00:00:00 2001
From: Lucile Remigy <lremigy@laas.fr>
Date: Mon, 19 Aug 2019 15:40:10 +0200
Subject: [PATCH] delete useless methods in includes
---
include/hpp/fcl/BV/AABB.h | 37 ++++---------------
include/hpp/fcl/BV/BV.h | 38 +-------------------
include/hpp/fcl/BV/OBB.h | 7 ----
include/hpp/fcl/BV/OBBRSS.h | 11 +-----
include/hpp/fcl/BV/RSS.h | 4 ---
include/hpp/fcl/BV/kDOP.h | 9 +++--
include/hpp/fcl/BV/kIOS.h | 8 -----
include/hpp/fcl/BVH/BVH_model.h | 54 +++++++++++++---------------
include/hpp/fcl/BVH/BVH_utility.h | 34 ------------------
include/hpp/fcl/math/matrix_3f.h | 36 -------------------
include/hpp/fcl/math/tools.h | 32 +----------------
include/hpp/fcl/math/transform.h | 21 +----------
include/hpp/fcl/math/vec_3f.h | 6 ++--
include/hpp/fcl/mesh_loader/assimp.h | 1 -
include/hpp/fcl/mesh_loader/loader.h | 14 ++------
test/test_fcl_eigen.cpp | 4 +--
test/test_fcl_geometric_shapes.cpp | 8 ++---
test/test_fcl_gjk.cpp | 4 +--
18 files changed, 53 insertions(+), 275 deletions(-)
diff --git a/include/hpp/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
index 0b93c48a..49dcaadf 100644
--- a/include/hpp/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -104,23 +104,12 @@ public:
return overlap (other);
}
- /// @brief Check whether the AABB contains another AABB
+ /// @brief Check whether the AABB contains another AABB
inline bool contain(const AABB& other) const
{
return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) && (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) && (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
}
-
- /// @brief Check whether two AABB are overlapped along specific axis
- inline bool axisOverlap(const AABB& other, int axis_id) const
- {
- if(min_[axis_id] > other.max_[axis_id]) return false;
-
- if(max_[axis_id] < other.min_[axis_id]) return false;
-
- return true;
- }
-
/// @brief Check whether two AABB are overlap and return the overlap part
inline bool overlap(const AABB& other, AABB& overlap_part) const
{
@@ -145,6 +134,12 @@ public:
return true;
}
+ /// @brief Volume of the AABB
+ inline FCL_REAL volume() const
+ {
+ return width() * height() * depth();
+ }
+
/// @brief Merge the AABB and a point
inline AABB& operator += (const Vec3f& p)
{
@@ -186,24 +181,12 @@ public:
return max_[2] - min_[2];
}
- /// @brief Volume of the AABB
- inline FCL_REAL volume() const
- {
- return width() * height() * depth();
- }
-
/// @brief Size of the AABB (used in BV_Splitter to order two AABBs)
inline FCL_REAL size() const
{
return (max_ - min_).squaredNorm();
}
- /// @brief Radius of the AABB
- inline FCL_REAL radius() const
- {
- return (max_ - min_).norm() / 2;
- }
-
/// @brief Center of the AABB
inline Vec3f center() const
{
@@ -216,12 +199,6 @@ public:
/// @brief Distance between two AABBs
FCL_REAL distance(const AABB& other) const;
- /// @brief whether two AABB are equal
- inline bool equal(const AABB& other) const
- {
- return isEqual(min_, other.min_) && isEqual(max_, other.max_);
- }
-
/// @brief expand the half size of the AABB by delta, and keep the center unchanged.
inline AABB& expand(const Vec3f& delta)
{
diff --git a/include/hpp/fcl/BV/BV.h b/include/hpp/fcl/BV/BV.h
index d88aa1fc..bb42f7fb 100644
--- a/include/hpp/fcl/BV/BV.h
+++ b/include/hpp/fcl/BV/BV.h
@@ -90,43 +90,7 @@ class Converter<AABB, OBB>
{
public:
static void convert(const AABB& bv1, const Transform3f& tf1, OBB& bv2)
- {
- /*
- bv2.To = tf1.transform(bv1.center());
-
- /// Sort the AABB edges so that AABB extents are ordered.
- FCL_REAL d[3] = {bv1.width(), bv1.height(), bv1.depth() };
- std::size_t id[3] = {0, 1, 2};
-
- for(std::size_t i = 1; i < 3; ++i)
- {
- for(std::size_t j = i; j > 0; --j)
- {
- if(d[j] > d[j-1])
- {
- {
- FCL_REAL tmp = d[j];
- d[j] = d[j-1];
- d[j-1] = tmp;
- }
- {
- std::size_t tmp = id[j];
- id[j] = id[j-1];
- id[j-1] = tmp;
- }
- }
- }
- }
-
- Vec3f extent = (bv1.max_ - bv1.min_) * 0.5;
- bv2.extent = Vec3f(extent[id[0]], extent[id[1]], extent[id[2]]);
- const Matrix3f& R = tf1.getRotation();
- bool left_hand = (id[0] == (id[1] + 1) % 3);
- bv2.axis[0] = left_hand ? -R.col(id[0]) : R.col(id[0]);
- bv2.axis[1] = R.col(id[1]);
- bv2.axis[2] = R.col(id[2]);
- */
-
+ {
bv2.To.noalias() = tf1.transform(bv1.center());
bv2.extent.noalias() = (bv1.max_ - bv1.min_) * 0.5;
bv2.axes.noalias() = tf1.getRotation();
diff --git a/include/hpp/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
index f3897cf3..028f011e 100644
--- a/include/hpp/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -73,13 +73,6 @@ public:
bool overlap(const OBB& other, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound) const;
-
- /// @brief Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.
- bool overlap(const OBB& other, OBB& /*overlap_part*/) const
- {
- return overlap(other);
- }
-
/// @brief Check whether the OBB contains a point.
bool contain(const Vec3f& p) const;
diff --git a/include/hpp/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
index bc8d715c..dbd7ff1f 100644
--- a/include/hpp/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -74,13 +74,7 @@ public:
return obb.overlap(other.obb, request, sqrDistLowerBound);
}
- /// @brief Check collision between two OBBRSS and return the overlap part.
- bool overlap(const OBBRSS& other, OBBRSS& /*overlap_part*/) const
- {
- return overlap(other);
- }
-
- /// @brief Check whether the OBBRSS contains a point
+/// @brief Check whether the OBBRSS contains a point
inline bool contain(const Vec3f& p) const
{
return obb.contain(p);
@@ -153,9 +147,6 @@ public:
}
};
-/// @brief Translate the OBBRSS bv
-OBBRSS translate(const OBBRSS& bv, const Vec3f& t);
-
/// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity
bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2);
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index 6822e97e..53d3ca3c 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -142,10 +142,6 @@ public:
};
-
-/// @brief Translate the RSS bv
-RSS translate(const RSS& bv, const Vec3f& t);
-
/// @brief distance between two RSS bounding volumes
/// P and Q (optional return values) are the closest points in the rectangles, not the RSS. But the direction P - Q is the correct direction for cloest points
/// Notice that P and Q are both in the local frame of the first RSS (not global frame and not even the local frame of object 1)
diff --git a/include/hpp/fcl/BV/kDOP.h b/include/hpp/fcl/BV/kDOP.h
index da590162..80f8d211 100644
--- a/include/hpp/fcl/BV/kDOP.h
+++ b/include/hpp/fcl/BV/kDOP.h
@@ -85,6 +85,10 @@ namespace fcl
template<size_t N>
class KDOP
{
+private:
+ /// @brief Origin's distances to N KDOP planes
+ FCL_REAL dist_[N];
+
public:
/// @brief Creating kDOP containing nothing
@@ -158,11 +162,6 @@ public:
/// @brief The distance between two KDOP<N>. Not implemented.
FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
-private:
- /// @brief Origin's distances to N KDOP planes
- FCL_REAL dist_[N];
-
-public:
inline FCL_REAL dist(std::size_t i) const
{
return dist_[i];
diff --git a/include/hpp/fcl/BV/kIOS.h b/include/hpp/fcl/BV/kIOS.h
index a7228168..77ab3e45 100644
--- a/include/hpp/fcl/BV/kIOS.h
+++ b/include/hpp/fcl/BV/kIOS.h
@@ -100,14 +100,6 @@ public:
bool overlap(const kIOS& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const;
- /// @brief Check collision between two kIOS and return the overlap part.
- /// For kIOS, we return nothing, as the overlappart of two kIOS usually is not an kIOS
- /// @todo Not efficient. It first checks the sphere collisions and then use OBB for further culling.
- bool overlap(const kIOS& other, kIOS& /*overlap_part*/) const
- {
- return overlap(other);
- }
-
/// @brief Check whether the kIOS contains a point
inline bool contain(const Vec3f& p) const;
diff --git a/include/hpp/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
index 1f29a9bb..031942f1 100644
--- a/include/hpp/fcl/BVH/BVH_model.h
+++ b/include/hpp/fcl/BVH/BVH_model.h
@@ -59,6 +59,30 @@ class BVHModel : public CollisionGeometry,
{
public:
+ /// @brief Geometry point data
+ Vec3f* vertices;
+
+ /// @brief Geometry triangle index data, will be NULL for point clouds
+ Triangle* tri_indices;
+
+ /// @brief Geometry point data in previous frame
+ Vec3f* prev_vertices;
+
+ /// @brief Number of triangles
+ int num_tris;
+
+ /// @brief Number of points
+ int num_vertices;
+
+ /// @brief The state of BVH building process
+ BVHBuildState build_state;
+
+ /// @brief Split rule to split one BV node into two children
+ boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;
+
+ /// @brief Fitting rule to fit a BV node to a set of geometry primitives
+ boost::shared_ptr<BVFitterBase<BV> > bv_fitter;
+
/// @brief Model type described by the instance
BVHModelType getModelType() const
{
@@ -150,7 +174,6 @@ public:
/// @brief End BVH model construction, will build the bounding volume hierarchy
int endModel();
-
/// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)
int beginReplaceModel();
@@ -166,7 +189,6 @@ public:
/// @brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy
int endReplaceModel(bool refit = true, bool bottomup = true);
-
/// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame).
/// The current frame will be saved as the previous frame in prev_vertices.
int beginUpdateModel();
@@ -186,7 +208,7 @@ public:
/// @brief Check the number of memory used
int memUsage(int msg) const;
- /// @brief This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent
+/// @brief This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent
/// BV node. When traversing the BVH, this can save one matrix transformation.
void makeParentRelative()
{
@@ -244,32 +266,6 @@ public:
return C.trace() * Matrix3f::Identity() - C;
}
-public:
- /// @brief Geometry point data
- Vec3f* vertices;
-
- /// @brief Geometry triangle index data, will be NULL for point clouds
- Triangle* tri_indices;
-
- /// @brief Geometry point data in previous frame
- Vec3f* prev_vertices;
-
- /// @brief Number of triangles
- int num_tris;
-
- /// @brief Number of points
- int num_vertices;
-
- /// @brief The state of BVH building process
- BVHBuildState build_state;
-
- /// @brief Split rule to split one BV node into two children
- boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;
-
- /// @brief Fitting rule to fit a BV node to a set of geometry primitives
- boost::shared_ptr<BVFitterBase<BV> > bv_fitter;
-
-
private:
int num_tris_allocated;
diff --git a/include/hpp/fcl/BVH/BVH_utility.h b/include/hpp/fcl/BVH/BVH_utility.h
index 85110c26..e87cf918 100644
--- a/include/hpp/fcl/BVH/BVH_utility.h
+++ b/include/hpp/fcl/BVH/BVH_utility.h
@@ -46,39 +46,6 @@ namespace hpp
{
namespace fcl
{
-/// @brief Expand the BVH bounding boxes according to the variance matrix corresponding to the data stored within each BV node
-template<typename BV>
-void BVHExpand(BVHModel<BV>& model, const Variance3f* ucs, FCL_REAL r)
-{
- for(int i = 0; i < model.num_bvs; ++i)
- {
- BVNode<BV>& bvnode = model.getBV(i);
-
- BV bv;
- for(int j = 0; j < bvnode.num_primitives; ++j)
- {
- int v_id = bvnode.first_primitive + j;
- const Variance3f& uc = ucs[v_id];
-
- Vec3f& v = model.vertices[bvnode.first_primitive + j];
-
- for(int k = 0; k < 3; ++k)
- {
- bv += (v + uc.axis[k] * (r * uc.sigma[k]));
- bv += (v - uc.axis[k] * (r * uc.sigma[k]));
- }
- }
-
- bvnode.bv = bv;
- }
-}
-
-/// @brief Expand the BVH bounding boxes according to the corresponding variance information, for OBB
-void BVHExpand(BVHModel<OBB>& model, const Variance3f* ucs, FCL_REAL r);
-
-/// @brief Expand the BVH bounding boxes according to the corresponding variance information, for RSS
-void BVHExpand(BVHModel<RSS>& model, const Variance3f* ucs, FCL_REAL r);
-
/// @brief Extract the part of the BVHModel that is inside an AABB.
/// A triangle in collision with the AABB is considered inside.
template<typename BV>
@@ -99,7 +66,6 @@ void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec
/// @brief Compute the maximum distance from a given center point to a point cloud
FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);
-
}
} // namespace hpp
diff --git a/include/hpp/fcl/math/matrix_3f.h b/include/hpp/fcl/math/matrix_3f.h
index 122f3291..9026a222 100644
--- a/include/hpp/fcl/math/matrix_3f.h
+++ b/include/hpp/fcl/math/matrix_3f.h
@@ -60,42 +60,6 @@ public:
/// @brief Eigen axes of the variation matrix
Vec3f axis[3];
- Variance3f() {}
-
- Variance3f(const Matrix3f& S) : Sigma(S)
- {
- init();
- }
-
- /// @brief init the Variance
- void init()
- {
- eigen(Sigma, sigma, axis);
- }
-
- /// @brief Compute the sqrt of Sigma matrix based on the eigen decomposition result, this is useful when the uncertainty matrix is initialized as a square variation matrix
- Variance3f& sqrt()
- {
- for(std::size_t i = 0; i < 3; ++i)
- {
- if(sigma[i] < 0) sigma[i] = 0;
- sigma[i] = std::sqrt(sigma[i]);
- }
-
-
- Sigma.setZero();
- for(std::size_t i = 0; i < 3; ++i)
- {
- for(std::size_t j = 0; j < 3; ++j)
- {
- Sigma(i, j) += sigma[0] * axis[0][i] * axis[0][j];
- Sigma(i, j) += sigma[1] * axis[1][i] * axis[1][j];
- Sigma(i, j) += sigma[2] * axis[2][i] * axis[2][j];
- }
- }
-
- return *this;
- }
};
}
diff --git a/include/hpp/fcl/math/tools.h b/include/hpp/fcl/math/tools.h
index cfc19640..f1778661 100644
--- a/include/hpp/fcl/math/tools.h
+++ b/include/hpp/fcl/math/tools.h
@@ -98,14 +98,6 @@ void generateCoordinateSystem(
}
/* ----- Start Matrices ------ */
-template<typename Derived, typename OtherDerived>
-void hat(const Eigen::MatrixBase<Derived>& mat, const Eigen::MatrixBase<OtherDerived>& vec)
-{
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3);
- EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(OtherDerived, 3, 1);
- const_cast< Eigen::MatrixBase<Derived>& >(mat) << 0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0;
-}
-
template<typename Derived, typename OtherDerived>
void relativeTransform(const Eigen::MatrixBase<Derived>& R1, const Eigen::MatrixBase<OtherDerived>& t1,
const Eigen::MatrixBase<Derived>& R2, const Eigen::MatrixBase<OtherDerived>& t2,
@@ -205,11 +197,7 @@ void eigen(const Eigen::MatrixBase<Derived>& m, typename Derived::Scalar dout[3]
return;
}
-template<typename Derived, typename OtherDerived>
-typename Derived::Scalar quadraticForm(const Eigen::MatrixBase<Derived>& R, const Eigen::MatrixBase<OtherDerived>& v)
-{
- return v.dot(R * v);
-}
+
template<typename Derived, typename OtherDerived>
bool isEqual(const Eigen::MatrixBase<Derived>& lhs, const Eigen::MatrixBase<OtherDerived>& rhs, const FCL_REAL tol = std::numeric_limits<FCL_REAL>::epsilon()*100)
@@ -217,26 +205,8 @@ bool isEqual(const Eigen::MatrixBase<Derived>& lhs, const Eigen::MatrixBase<Othe
return ((lhs - rhs).array().abs() < tol).all();
}
-template <typename Derived>
-inline Derived& setEulerZYX(const Eigen::MatrixBase<Derived>& R, FCL_REAL eulerX, FCL_REAL eulerY, FCL_REAL eulerZ)
-{
- const_cast< Eigen::MatrixBase<Derived>& >(R).noalias() = (
- Eigen::AngleAxisd (eulerZ, Eigen::Vector3d::UnitZ()) *
- Eigen::AngleAxisd (eulerY, Eigen::Vector3d::UnitY()) *
- Eigen::AngleAxisd (eulerX, Eigen::Vector3d::UnitX())
- ).toRotationMatrix();
- return const_cast< Eigen::MatrixBase<Derived>& >(R).derived();
-}
-
-template <typename Derived>
-inline Derived& setEulerYPR(const Eigen::MatrixBase<Derived>& R, FCL_REAL yaw, FCL_REAL pitch, FCL_REAL roll)
-{
- return setEulerZYX(R, roll, pitch, yaw);
}
-}
-
-
} // namespace hpp
#endif
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index 69c12043..1787918d 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -126,13 +126,7 @@ public:
R.setIdentity();
}
- /// @brief Construct transform from another transform
- Transform3f(const Transform3f& tf) : matrix_set(tf.matrix_set),
- R(tf.R),
- T(tf.T),
- q(tf.q)
- {
- }
+
/// @brief operator =
Transform3f& operator = (const Transform3f& tf)
@@ -268,19 +262,6 @@ public:
}
};
-
-/// @brief inverse the transform
-Transform3f inverse(const Transform3f& tf);
-
-/// @brief compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1)
-void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
- Transform3f& tf);
-
-/// @brief compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system)
-void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
- Transform3f& tf);
-
-
}
} // namespace hpp
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index b7fcef9d..a45a9202 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -57,6 +57,9 @@ namespace fcl
}
+
+} // namespace hpp
+
#ifdef HPP_FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
(OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
@@ -68,7 +71,4 @@ namespace fcl
(OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
OCTOMAP_PATCH_VERSION <= z))))
#endif // HPP_FCL_HAVE_OCTOMAP
-
-} // namespace hpp
-
#endif
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 2b3078d4..3abcf0ae 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -60,7 +60,6 @@ namespace hpp
{
namespace fcl
{
-
struct TriangleAndVertices
{
diff --git a/include/hpp/fcl/mesh_loader/loader.h b/include/hpp/fcl/mesh_loader/loader.h
index ce8a30af..01ba842b 100644
--- a/include/hpp/fcl/mesh_loader/loader.h
+++ b/include/hpp/fcl/mesh_loader/loader.h
@@ -53,7 +53,7 @@ namespace fcl {
public:
virtual ~MeshLoader() {}
- /// \param bvType ignored
+ /// \param bvType ignored
/// \deprecated Use MeshLoader::load(const std::string&, const Vec3f&)
CollisionGeometryPtr_t load (const std::string& filename,
const Vec3f& scale,
@@ -83,16 +83,6 @@ namespace fcl {
CachedMeshLoader (const NODE_TYPE& bvType = BV_OBBRSS) : MeshLoader (bvType) {}
- /// \param bvType ignored
- /// \deprecated Use MeshLoader::load(const std::string&, const Vec3f&)
- CollisionGeometryPtr_t load (const std::string& filename,
- const Vec3f& scale,
- const NODE_TYPE& bvType) HPP_FCL_DEPRECATED
- {
- (void) bvType;
- return load(filename, scale);
- }
-
virtual CollisionGeometryPtr_t load (const std::string& filename,
const Vec3f& scale);
@@ -107,7 +97,7 @@ namespace fcl {
};
typedef std::map <Key, CollisionGeometryPtr_t> Cache_t;
- const Cache_t cache () const { return cache_; }
+
private:
Cache_t cache_;
};
diff --git a/test/test_fcl_eigen.cpp b/test/test_fcl_eigen.cpp
index a1bcb12f..5b50dce7 100644
--- a/test/test_fcl_eigen.cpp
+++ b/test/test_fcl_eigen.cpp
@@ -102,11 +102,11 @@ BOOST_AUTO_TEST_CASE(fcl_eigen_matrix3fx)
a *= a;
PRINT_MATRIX(a);
- Matrix3fX b = inverse(a);
+ Matrix3fX b = a.inverse();
a += a + a * b;
PRINT_MATRIX(a);
- b = inverse(a);
+ b = a.inverse();
a.transpose ();
PRINT_MATRIX(a);
PRINT_MATRIX(a.transposeTimes (b));
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 60df213b..a2cdacc9 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -291,11 +291,11 @@ BOOST_AUTO_TEST_CASE (shapeIntersection_cylinderbox)
BOOST_CHECK ((res && distance > 0) || (!res && distance <= 0));
// If objects are not colliding, p2 should be outside the cylinder and
// p1 should be outside the box
- Vec3f p2Loc (inverse (tf1).transform (p2));
+ Vec3f p2Loc (tf1.inverse().transform (p2));
bool p2_in_cylinder ((fabs (p2Loc [2]) <= .5*s1.lz) &&
(p2Loc [0] * p2Loc [0] + p2Loc [1] * p2Loc [1]
<= s1.radius));
- Vec3f p1Loc (inverse (tf2).transform (p1));
+ Vec3f p1Loc (tf2.inverse().transform (p1));
bool p1_in_box ((fabs (p1Loc [0]) <= .5 * s2.side [0]) &&
(fabs (p1Loc [1]) <= .5 * s2.side [1]) &&
(fabs (p1Loc [2]) <= .5 * s2.side [2]));
@@ -310,11 +310,11 @@ BOOST_AUTO_TEST_CASE (shapeIntersection_cylinderbox)
// If objects are not colliding, p2 should be outside the cylinder and
// p1 should be outside the box
- p2Loc = inverse (tf1).transform (p2);
+ p2Loc = tf1.inverse().transform (p2);
p2_in_cylinder = (fabs (p2Loc [2]) <= .5*s1.lz) &&
(p2Loc [0] * p2Loc [0] + p2Loc [1] * p2Loc [1]
<= s1.radius);
- p1Loc = inverse (tf2).transform (p1);
+ p1Loc = tf2.inverse().transform (p1);
p1_in_box = (fabs (p1Loc [0]) <= .5 * s2.side [0]) &&
(fabs (p1Loc [1]) <= .5 * s2.side [1]) &&
(fabs (p1Loc [2]) <= .5 * s2.side [2]);
diff --git a/test/test_fcl_gjk.cpp b/test/test_fcl_gjk.cpp
index 3bb9b907..52a5cfdd 100644
--- a/test/test_fcl_gjk.cpp
+++ b/test/test_fcl_gjk.cpp
@@ -183,11 +183,11 @@ BOOST_AUTO_TEST_CASE(distance_triangle_triangle_1)
BOOST_CHECK (w1.squaredNorm () > eps*eps);
M.col (0) = u1; M.col (1) = v1; M.col (2) = w1;
// Compute a1 such that p1 = P1 + a11 u1 + a12 v1 + a13 u1 x v1
- a1 = M.inverse () * (p1 - P1);
+ a1 = M.inverse() * (p1 - P1);
BOOST_CHECK (w2.squaredNorm () > eps*eps);
// Compute a2 such that p2 = Q1 + a21 u2 + a22 v2 + a23 u2 x v2
M.col (0) = u2; M.col (1) = v2; M.col (2) = w2;
- a2 = M.inverse () * (p2 - Q1);
+ a2 = M.inverse() * (p2 - Q1);
// minimal distance and closest points can be considered as a constrained
// optimisation problem:
--
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