Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \). More...

#include <coal/shape/geometric_shapes.h>

Inheritance diagram for coal::Capsule:

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Collaboration diagram for coal::Capsule:

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Public Member Functions
	Capsule ()
	Default constructor.

	Capsule (Scalar radius_, Scalar lz_)

	Capsule (const Capsule &other)

virtual Capsule *	clone () const
	Clone *this into a new Capsule.

void	computeLocalAABB ()
	Compute AABB.

NODE_TYPE	getNodeType () const
	Get node type: a capsule.

Scalar	computeVolume () const
	compute the volume

Matrix3s	computeMomentofInertia () const
	compute the inertia matrix, related to the origin

Scalar	minInflationValue () const

std::pair< Capsule, Transform3s >	inflated (const Scalar value) const
	Inflate the capsule by an amount given by `value`. This value can be positive or negative but must always >= `minInflationValue()`.

Public Member Functions inherited from coal::ShapeBase
	ShapeBase ()

	ShapeBase (const ShapeBase &other)


ShapeBase &	operator= (const ShapeBase &other)=default

virtual	~ShapeBase ()

OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape.

void	setSweptSphereRadius (Scalar radius)
	Set radius of sphere swept around the shape. Must be >= 0.

Scalar	getSweptSphereRadius () const
	Get radius of sphere swept around the shape. This radius is always >= 0.

Public Member Functions inherited from coal::CollisionGeometry
	CollisionGeometry ()

	CollisionGeometry (const CollisionGeometry &other)=default
	Copy constructor.

virtual	~CollisionGeometry ()

bool	operator== (const CollisionGeometry &other) const
	Equality operator.

bool	operator!= (const CollisionGeometry &other) const
	Difference operator.

void *	getUserData () const
	get user data in geometry

void	setUserData (void *data)
	set user data in geometry

bool	isOccupied () const
	whether the object is completely occupied

bool	isFree () const
	whether the object is completely free

bool	isUncertain () const
	whether the object has some uncertainty

virtual Vec3s	computeCOM () const
	compute center of mass

virtual Matrix3s	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com

Public Attributes
Scalar	radius
	Radius of capsule.

Scalar	halfLength
	Half Length along z axis.

Public Attributes inherited from coal::CollisionGeometry
Vec3s	aabb_center
	AABB center in local coordinate.

Scalar	aabb_radius
	AABB radius.

AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.

void *	user_data
	pointer to user defined data specific to this object

Scalar	cost_density
	collision cost for unit volume

Scalar	threshold_occupied
	threshold for occupied ( >= is occupied)

Scalar	threshold_free
	threshold for free (<= is free)

Additional Inherited Members
Protected Attributes inherited from coal::ShapeBase
Scalar	m_swept_sphere_radius {0}
	Radius of the sphere swept around the shape. Default value is 0. Note: this property differs from `inflated` method of certain derived classes (e.g. Box, Sphere, Ellipsoid, Capsule, Cone, Cylinder) in the sense that inflated returns a new shape which can be inflated but also deflated. Also, an inflated shape is not rounded. It simply has a different size. Sweeping a shape with a sphere is a different operation (a Minkowski sum), which rounds the sharp corners of a shape. The swept sphere radius is a property of the shape itself and can be manually updated between collision checks.

Detailed Description

Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \).

Constructor & Destructor Documentation

◆ Capsule() [1/3]

coal::Capsule::Capsule ( )

inline

Default constructor.

◆ Capsule() [2/3]

coal::Capsule::Capsule	(	Scalar	radius_,
		Scalar	lz_
	)

inline

◆ Capsule() [3/3]

coal::Capsule::Capsule ( const Capsule & other )

inline

Member Function Documentation

◆ clone()

virtual Capsule * coal::Capsule::clone ( ) const

inlinevirtual

Clone *this into a new Capsule.

Implements coal::CollisionGeometry.

◆ computeLocalAABB()

void coal::Capsule::computeLocalAABB ( )

virtual

Compute AABB.

Implements coal::CollisionGeometry.

◆ computeMomentofInertia()

Matrix3s coal::Capsule::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from coal::CollisionGeometry.

◆ computeVolume()

Scalar coal::Capsule::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from coal::CollisionGeometry.

◆ getNodeType()

NODE_TYPE coal::Capsule::getNodeType ( ) const

inlinevirtual

Get node type: a capsule.

Reimplemented from coal::CollisionGeometry.

◆ inflated()

std::pair< Capsule, Transform3s > coal::Capsule::inflated ( const Scalar value ) const

inline

Inflate the capsule by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters

[in] value of the shape inflation.

Returns: a new inflated capsule and the related transform to account for the change of shape frame

◆ minInflationValue()

Scalar coal::Capsule::minInflationValue ( ) const

inline

Member Data Documentation

◆ halfLength

Scalar coal::Capsule::halfLength

Half Length along z axis.

◆ radius

Scalar coal::Capsule::radius

Radius of capsule.

The documentation for this class was generated from the following file:

include/coal/shape/geometric_shapes.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Capsule() [1/3]

◆ Capsule() [2/3]

◆ Capsule() [3/3]

Member Function Documentation

◆ clone()

◆ computeLocalAABB()

◆ computeMomentofInertia()

◆ computeVolume()

◆ getNodeType()

◆ inflated()

◆ minInflationValue()

Member Data Documentation

◆ halfLength

◆ radius