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:

Classes
struct	ShapeData

Public Types
typedef Eigen::Array< FCL_REAL, 1, 2 >	Array2d
typedef void(*	GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, ShapeData data[2])

Public Member Functions
	MinkowskiDiff ()
void	set (const ShapeBase *shape0, const ShapeBase *shape1)
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, int &hint) const
	support function for shape0 More...
Vec3f	support1 (const Vec3f &d, bool dIsNormalized, int &hint) const
	support function for shape1 More...
void	support (const Vec3f &d, bool dIsNormalized, Vec3f &supp0, Vec3f &supp1, support_func_guess_t &hint) const
	support function for the pair of shapes More...

Public Attributes
const ShapeBase *	shapes [2]
	points to two shapes More...
ShapeData	data [2]
	Store temporary data for the computation of the support point for each shape. 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...
Array2d	inflation
	The radius of the sphere swepted volume. The 2 values correspond to the inflation of shape 0 and shape 1/ These inflation values are used for Sphere and Capsule. More...
int	linear_log_convex_threshold
	Number of points in a Convex object from which using a logarithmic support function is faster than a linear one. It defaults to 32. More...
bool	normalize_support_direction
	Wether or not to use the normalize heuristic in the GJK Nesterov acceleration. This setting is only applied if the Nesterov acceleration in the GJK class is active. More...
GetSupportFunction	getSupportFunc

Detailed Description

Minkowski difference class of two shapes.

Note

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

Member Typedef Documentation

Array2d

typedef Eigen::Array<FCL_REAL, 1, 2> hpp::fcl::details::MinkowskiDiff::Array2d

GetSupportFunction

typedef void(* hpp::fcl::details::MinkowskiDiff::GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint, ShapeData data[2])

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.

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, support_func_guess_t &  hint  ) const

inline

support function for the pair of shapes

support0()

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

inline

support function for shape0

support1()

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

inline

support function for shape1

Member Data Documentation

data

ShapeData hpp::fcl::details::MinkowskiDiff::data[2]

Store temporary data for the computation of the support point for each shape.

getSupportFunc

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

inflation

Array2d 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/ These inflation values are used for Sphere and Capsule.

linear_log_convex_threshold

int hpp::fcl::details::MinkowskiDiff::linear_log_convex_threshold

Number of points in a Convex object from which using a logarithmic support function is faster than a linear one. It defaults to 32.

Note

It must set before the call to set.

normalize_support_direction

bool hpp::fcl::details::MinkowskiDiff::normalize_support_direction

Wether or not to use the normalize heuristic in the GJK Nesterov acceleration. This setting is only applied if the Nesterov acceleration in the GJK class is active.

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

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

• include/hpp/fcl/narrowphase/gjk.h