Base for convex polytope. More...

Inheritance diagram for hpp::fcl::ConvexBase:

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Collaboration diagram for hpp::fcl::ConvexBase:

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Public Member Functions
virtual	~ConvexBase ()

virtual ConvexBase *	clone () const
	More...

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

virtual Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

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

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

Static Public Member Functions
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...

Public Attributes
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
	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...

Detailed Description

Base for convex polytope.

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

Classes