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The online doxygen documentation should be helpful. There´s also a wrapper in OMPL.

I´d recommend taking a look at the implementation in MoveIt! as a lot of what has been done there will be highly relevant to your use case, too (especially considering that you´re likely also using the PR2 URDF model, so a lot of the link transform setup etc. should transfer). Looking at this blog post from 2012 it seems that a lot of FCL is relatively new, so OMPL and MoveIt! are likely the most comprehensive usage examples.