hpp::fcl::details::MinkowskiDiff Struct Reference

Minkowski difference class of two shapes. More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for hpp::fcl::details::MinkowskiDiff:

Public Types
typedef void(*	GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1)

Public Member Functions
	MinkowskiDiff ()
void	set (const ShapeBase *shape0, const ShapeBase *shape1)
	Set the two shapes, assuming the relative transformation between them is identity. More...
void	set (const ShapeBase *shape0, const ShapeBase *shape1, const Transform3f &tf0, const Transform3f &tf1)
	Set the two shapes, with a relative transformation. More...
Vec3f	support0 (const Vec3f &d, bool dIsNormalized) const
	support function for shape0 More...
Vec3f	support1 (const Vec3f &d, bool dIsNormalized) const
	support function for shape1 More...
void	support (const Vec3f &d, bool dIsNormalized, Vec3f &supp0, Vec3f &supp1) const
	support function for the pair of shapes More...

Public Attributes
const ShapeBase *	shapes [2]
	points to two shapes More...
Matrix3f	oR1
	rotation from shape1 to shape0 such that \( p_in_0 = oR1 * p_in_1 + ot1 \). More...
Vec3f	ot1
	translation from shape1 to shape0 such that \( p_in_0 = oR1 * p_in_1 + ot1 \). More...
Eigen::Array< FCL_REAL, 1, 2 >	inflation
	The radius of the sphere swepted volume. More...
GetSupportFunction	getSupportFunc

Detailed Description

Minkowski difference class of two shapes.

Todo:

template this by the two shapes. The triangle / triangle case can be easily optimized computing once the triangle shapes[1] into frame0

Note

The Minkowski difference is expressed in the frame of the first shape.

Member Typedef Documentation

GetSupportFunction

typedef void(* hpp::fcl::details::MinkowskiDiff::GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1)

Constructor & Destructor Documentation

MinkowskiDiff()

hpp::fcl::details::MinkowskiDiff::MinkowskiDiff ( )

inline

Member Function Documentation

set() [1/2]

void hpp::fcl::details::MinkowskiDiff::set	(	const ShapeBase *	shape0,
		const ShapeBase *	shape1
	)

Set the two shapes, assuming the relative transformation between them is identity.

Referenced by hpp::fcl::GJKSolver::shapeDistance(), hpp::fcl::GJKSolver::shapeIntersect(), and hpp::fcl::GJKSolver::shapeTriangleInteraction().

set() [2/2]

void hpp::fcl::details::MinkowskiDiff::set	(	const ShapeBase *	shape0,
		const ShapeBase *	shape1,
		const Transform3f &	tf0,
		const Transform3f &	tf1
	)

Set the two shapes, with a relative transformation.

support()

void hpp::fcl::details::MinkowskiDiff::support ( const Vec3f &  d, bool  dIsNormalized, Vec3f &  supp0, Vec3f &  supp1  ) const

inline

support function for the pair of shapes

References getSupportFunc.

Referenced by hpp::fcl::details::GJK::getSupport().

support0()

Vec3f hpp::fcl::details::MinkowskiDiff::support0 ( const Vec3f &  d, bool  dIsNormalized  ) const

inline

support function for shape0

References hpp::fcl::details::getSupport().

support1()

Vec3f hpp::fcl::details::MinkowskiDiff::support1 ( const Vec3f &  d, bool  dIsNormalized  ) const

inline

support function for shape1

References hpp::fcl::details::getSupport().

Member Data Documentation

getSupportFunc

GetSupportFunction hpp::fcl::details::MinkowskiDiff::getSupportFunc

Referenced by support().

inflation

Eigen::Array<FCL_REAL, 1, 2> hpp::fcl::details::MinkowskiDiff::inflation

The radius of the sphere swepted volume.

The 2 values correspond to the inflation of shape 0 and shape 1.

Referenced by hpp::fcl::details::GJK::hasPenetrationInformation().

oR1

Matrix3f hpp::fcl::details::MinkowskiDiff::oR1

rotation from shape1 to shape0 such that \( p_in_0 = oR1 * p_in_1 + ot1 \).

ot1

Vec3f hpp::fcl::details::MinkowskiDiff::ot1

translation from shape1 to shape0 such that \( p_in_0 = oR1 * p_in_1 + ot1 \).

shapes

const ShapeBase* hpp::fcl::details::MinkowskiDiff::shapes[2]

points to two shapes