text: //
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  //  Copyright (c) 2014 CNRS-LAAS
  //  Author: Florent Lamiraux
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  namespace hpp
  {
  namespace fcl
  {
  
  /// \mainpage
  /// \anchor hpp_fcl_documentation
  ///
  /// \section hpp_fcl_introduction Introduction
  ///
  /// hpp-fcl is a modified version the FCL libraries.
  ///
  /// It is a library for collision detection and distance computation between
  /// various types of geometric shapes reprensented either by
  /// \li basic shapes (hpp::fcl::ShapeBase) like box, sphere, cylinders, ...
  /// \li or by bounding volume hierarchies of various types (hpp::fcl::BVHModel)
  ///
  /// \par Using hpp-fcl
  ///
  /// The main entry points to the library are functions
  /// \li hpp::fcl::collide(const CollisionObject*, const CollisionObject*, const CollisionRequest&, CollisionResult&)
  /// \li hpp::fcl::distance(const CollisionObject*, const CollisionObject*, const DistanceRequest&, DistanceResult&)
  ///
  /// \section hpp_fcl_collision_and_distance_lower_bound_computation Collision detection and distance lower bound
  ///
  /// Collision queries can return a distance lower bound between the two objects,
  /// which is computationally cheaper than computing the real distance.
  /// The following figure shows the returned result in
  /// CollisionResult::distance_lower_bound and DistanceResult::min_distance,
  /// with respect to the objects real distance.
  ///
  /// \image html distance_computation.png
  ///
  /// The two parameters refer to CollisionRequest::security_margin and
  /// CollisionRequest::break_distance.
  /// \note In the green hatched area, the distance lower bound is not known. It
  /// is only guaranted that it will be inferior to
  /// <em>distance - security_margin</em> and superior to \em break_distance.
  
  } // namespace fcl
  } // namespace hpp
  