geometric_shapes.h File Reference

#include <vector>
#include <memory>
#include <boost/math/constants/constants.hpp>
#include "hpp/fcl/collision_object.h"
#include "hpp/fcl/data_types.h"

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Classes
class	hpp::fcl::ShapeBase
	Base class for all basic geometric shapes. More...
class	hpp::fcl::TriangleP
	Triangle stores the points instead of only indices of points. More...
class	hpp::fcl::Box
	Center at zero point, axis aligned box. More...
class	hpp::fcl::Sphere
	Center at zero point sphere. More...
class	hpp::fcl::Ellipsoid
	Ellipsoid centered at point zero. More...
class	hpp::fcl::Capsule
	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...
class	hpp::fcl::Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...
class	hpp::fcl::Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...
class	hpp::fcl::ConvexBase
	Base for convex polytope. More...
struct	hpp::fcl::ConvexBase::Neighbors
struct	hpp::fcl::ConvexBase::SupportWarmStartPolytope
	The support warm start polytope contains certain points of this which are support points in specific directions of space. This struct is used to warm start the support function computation for large meshes (num_points > 32). More...
class	hpp::fcl::Halfspace
	Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the direction of the normal. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...
class	hpp::fcl::Plane
	Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction. Note: prefer using a Halfspace instead of a Plane if possible, it has better behavior w.r.t. collision detection algorithms. More...

Namespaces
	hpp
	Main namespace.
	hpp::fcl