#include <hpp/fcl/shape/geometric_shapes.h>

Inheritance diagram for hpp::fcl::Convex< PolygonT >:

Collaboration diagram for hpp::fcl::Convex< PolygonT >:

Public Member Functions
	Convex (bool ownStorage, Vec3f points_, int num_points_, PolygonT polygons_, 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 ()

Matrix3f	computeMomentofInertia () const
	based on http://number-none.com/blow/inertia/bb_inertia.doc More...

Vec3f	computeCOM () const
	compute center of mass More...

FCL_REAL	computeVolume () const
	compute the volume More...

Public Member Functions inherited from hpp::fcl::ConvexBase
virtual	~ConvexBase ()

void	computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	getNodeType () const
	Get node type: a conex polytope. More...

Public Member Functions inherited from hpp::fcl::ShapeBase
	ShapeBase ()

virtual	~ShapeBase ()

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

Public Member Functions inherited from hpp::fcl::CollisionGeometry
	CollisionGeometry ()

virtual	~CollisionGeometry ()

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 Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
PolygonT *	polygons
	An array of PolygonT object. More...

int	num_polygons

Public Attributes inherited from hpp::fcl::ConvexBase
Vec3f *	points
	An array of the points of the polygon. More...

int	num_points

Neighbors *	neighbors
	Neighbors of each vertex. More...

Vec3f	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...

Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f	aabb_center
	AABB center in local coordinate. More...

FCL_REAL	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...

FCL_REAL	cost_density
	collision cost for unit volume More...

FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...

FCL_REAL	threshold_free
	threshold for free (<= is free) More...

Protected Member Functions
void	fillNeighbors ()

Protected Member Functions inherited from hpp::fcl::ConvexBase
	ConvexBase (bool ownStorage, Vec3f *points_, int num_points_)
	Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More...

	ConvexBase (const ConvexBase &other)
	Copy constructor Only the list of neighbors is copied. More...

Additional Inherited Members
Protected Attributes inherited from hpp::fcl::ConvexBase
unsigned int *	nneighbors_

bool	own_storage_

Detailed Description

Convex polytope.

Template Parameters

PolygonT the polygon class. It must have method size() and operator[](int i)

Constructor & Destructor Documentation

template<typename PolygonT >

hpp::fcl::Convex< PolygonT >::Convex	(	bool	ownStorage,
		Vec3f *	points_,
		int	num_points_,
		PolygonT *	polygons_,
		int	num_polygons_
	)

Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.

Parameters

ownStorage	whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction.
points_	list of 3D points
num_points_	number of 3D points
polygons_	An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.
num_polygons_	the number of polygons.