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

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

[legend]

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

[legend]

Public Member Functions
	Convex ()
	Construct an uninitialized convex object. More...

	Convex (bool ownStorage, Vec3f points_, unsigned int num_points_, 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 ()

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...

void	set (bool ownStorage, Vec3f points, unsigned int num_points, PolygonT polygons, unsigned int num_polygons)
	Set the current Convex from a list of points and polygons. More...

virtual Convex< PolygonT > *	clone () const
	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 ()

	ShapeBase (const ShapeBase &other)
	More...

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

virtual	~ShapeBase ()

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

Public Member Functions inherited from hpp::fcl::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 Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

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

unsigned int	num_points

Neighbors *	neighbors

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 ()
	Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More...

void	initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_)
	Initialize the points of the convex shape This also initializes the ConvexBase::center. More...

void	set (bool ownStorage, Vec3f *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...

Additional Inherited Members
Static Public Member Functions inherited from hpp::fcl::ConvexBase
static ConvexBase *	convexHull (const Vec3f 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...

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

bool	own_storage_

Detailed Description

template<typename PolygonT>
class hpp::fcl::Convex< PolygonT >

Convex polytope.

Template Parameters

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

Constructor & Destructor Documentation

◆ Convex() [1/3]

template<typename PolygonT >

hpp::fcl::Convex< PolygonT >::Convex ( )

inline

Construct an uninitialized convex object.

◆ Convex() [2/3]

template<typename PolygonT >

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

Note: num_polygons_ is not the allocated size of polygons_.

◆ Convex() [3/3]

template<typename PolygonT >

hpp::fcl::Convex< PolygonT >::Convex ( const Convex< PolygonT > & other )

Copy constructor Only the list of neighbors is copied.

◆ ~Convex()

template<typename PolygonT >

hpp::fcl::Convex< PolygonT >::~Convex

Member Function Documentation

◆ clone()

template<typename PolygonT >

Convex< PolygonT > * hpp::fcl::Convex< PolygonT >::clone

virtual

Clone (deep copy).

Reimplemented from hpp::fcl::ConvexBase.

◆ computeCOM()

template<typename PolygonT >

Vec3f hpp::fcl::Convex< PolygonT >::computeCOM

virtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeMomentofInertia()

template<typename PolygonT >

Matrix3f hpp::fcl::Convex< PolygonT >::computeMomentofInertia

virtual

based on http://number-none.com/blow/inertia/bb_inertia.doc

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeVolume()

template<typename PolygonT >

FCL_REAL hpp::fcl::Convex< PolygonT >::computeVolume

virtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

◆ fillNeighbors()

template<typename PolygonT >

void hpp::fcl::Convex< PolygonT >::fillNeighbors

protected

◆ set()

template<typename PolygonT >

void hpp::fcl::Convex< PolygonT >::set	(	bool	ownStorage,
		Vec3f *	points,
		unsigned int	num_points,
		PolygonT *	polygons,
		unsigned int	num_polygons
	)

Set the current Convex from a list of points and polygons.

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.

Note: num_polygons is not the allocated size of polygons.

Member Data Documentation

◆ num_polygons

template<typename PolygonT >

unsigned int hpp::fcl::Convex< PolygonT >::num_polygons

◆ polygons

template<typename PolygonT >

PolygonT* hpp::fcl::Convex< PolygonT >::polygons

An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.

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

include/hpp/fcl/shape/convex.h
include/hpp/fcl/shape/details/convex.hxx

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PolygonT> class hpp::fcl::Convex< PolygonT >

Constructor & Destructor Documentation

◆ Convex() [1/3]

◆ Convex() [2/3]

◆ Convex() [3/3]

◆ ~Convex()

Member Function Documentation

◆ clone()

◆ computeCOM()

◆ computeMomentofInertia()

◆ computeVolume()

◆ fillNeighbors()

◆ set()

Member Data Documentation

◆ num_polygons

◆ polygons

template<typename PolygonT>
class hpp::fcl::Convex< PolygonT >