boost::serialization::internal::ConvexAccessor< PolygonT > Struct Template Reference
#include <coal/serialization/convex.h>
Inheritance diagram for boost::serialization::internal::ConvexAccessor< PolygonT >:
Collaboration diagram for boost::serialization::internal::ConvexAccessor< PolygonT >:
Public Types | |
| typedef coal::Convex< PolygonT > | Base |
Public Member Functions | |
| void | fillNeighbors () |
 Public Member Functions inherited from coal::Convex< PolygonT > | |
| Convex () | |
| Construct an uninitialized convex object. More... | |
| Convex (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_, std::shared_ptr< std::vector< PolygonT >> polygons_, unsigned int num_polygons_) | |
| Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More... | |
| Convex (const Convex &other) | |
| Copy constructor Only the list of neighbors is copied. More... | |
| ~Convex () | |
| Matrix3s | computeMomentofInertia () const |
| based on http://number-none.com/blow/inertia/bb_inertia.doc More... | |
| Vec3s | computeCOM () const |
| compute center of mass More... | |
| Scalar | computeVolume () const |
| compute the volume More... | |
| void | set (std::shared_ptr< std::vector< Vec3s >> points, unsigned int num_points, std::shared_ptr< std::vector< PolygonT >> polygons, unsigned int num_polygons) |
| Set the current Convex from a list of points and polygons. More... | |
| virtual Convex< PolygonT > * | clone () const |
| Clone (deep copy) More... | |
| Public Member Functions inherited from coal::ConvexBase | |
| virtual | ~ConvexBase () |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a convex polytope. More... | |
| Public Member Functions inherited from coal::ShapeBase | |
| ShapeBase () | |
| ShapeBase (const ShapeBase &other) | |
| More... | |
| ShapeBase & | operator= (const ShapeBase &other)=default |
| virtual | ~ShapeBase () |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| void | setSweptSphereRadius (Scalar radius) |
| Set radius of sphere swept around the shape. Must be >= 0. More... | |
| Scalar | getSweptSphereRadius () const |
| Get radius of sphere swept around the shape. This radius is always >= 0. More... | |
| Public Member Functions inherited from coal::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual | ~CollisionGeometry () |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from coal::ConvexBase | |
| static ConvexBase * | convexHull (std::shared_ptr< std::vector< Vec3s >> &points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
| Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More... | |
| static ConvexBase * | convexHull (const Vec3s *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
| Public Attributes inherited from coal::Convex< PolygonT > | |
| std::shared_ptr< std::vector< PolygonT > > | polygons |
| An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. More... | |
| unsigned int | num_polygons |
| Public Attributes inherited from coal::ConvexBase | |
| std::shared_ptr< std::vector< Vec3s > > | points |
| An array of the points of the polygon. More... | |
| unsigned int | num_points |
| std::shared_ptr< std::vector< Vec3s > > | normals |
| An array of the normals of the polygon. More... | |
| std::shared_ptr< std::vector< Scalar > > | offsets |
| An array of the offsets to the normals of the polygon. Note: there are as many offsets as normals. More... | |
| unsigned int | num_normals_and_offsets |
| std::shared_ptr< std::vector< Neighbors > > | neighbors |
| Neighbors of each vertex. It is an array of size num_points. For each vertex, it contains the number of neighbors and a list of indices pointing to them. More... | |
| Vec3s | center |
| center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) More... | |
| SupportWarmStartPolytope | support_warm_starts |
| Support warm start polytopes. More... | |
| Public Attributes inherited from coal::CollisionGeometry | |
| Vec3s | aabb_center |
| AABB center in local coordinate. More... | |
| Scalar | aabb_radius |
| AABB radius. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
| Scalar | cost_density |
| collision cost for unit volume More... | |
| Scalar | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| Scalar | threshold_free |
| threshold for free (<= is free) More... | |
| Static Public Attributes inherited from coal::ConvexBase | |
| static constexpr size_t | num_vertices_large_convex_threshold = 32 |
| Above this threshold, the convex polytope is considered large. This influcences the way the support function is computed. More... | |
| static constexpr size_t | num_support_warm_starts = 14 |
| Number of support warm starts. More... | |
| Protected Member Functions inherited from coal::Convex< PolygonT > | |
| void | fillNeighbors () |
| Protected Member Functions inherited from coal::ConvexBase | |
| ConvexBase () | |
| Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More... | |
| void | initialize (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_) |
| Initialize the points of the convex shape This also initializes the ConvexBase::center. More... | |
| void | set (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_) |
| Set the points of the convex shape. More... | |
| ConvexBase (const ConvexBase &other) | |
| Copy constructor Only the list of neighbors is copied. More... | |
| void | buildSupportWarmStart () |
| Build the support points warm starts. More... | |
| Protected Attributes inherited from coal::ConvexBase | |
| std::shared_ptr< std::vector< unsigned int > > | nneighbors_ |
Array of indices of the neighbors of each vertex. Since we don't know a priori the number of neighbors of each vertex, we store the indices of the neighbors in a single array. The neighbors attribute, an array of Neighbors, is used to point each vertex to the right indices in the nneighbors_ array. More... | |
| 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. More... | |
Member Typedef Documentation
◆ Base
template<typename PolygonT >
| typedef coal::Convex<PolygonT> boost::serialization::internal::ConvexAccessor< PolygonT >::Base |
Member Function Documentation
◆ fillNeighbors()
template<typename PolygonT >
| void coal::Convex< PolygonT >::fillNeighbors |
The documentation for this struct was generated from the following file:
- include/coal/serialization/convex.h
