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

Inheritance diagram for fcl::Convex:

Collaboration diagram for fcl::Convex:

Classes
struct	Edge

Public Member Functions
	Convex (Vec3f plane_normals_, FCL_REAL plane_dis_, int num_planes_, Vec3f points_, int num_points_, int 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. More...

	~Convex ()

void	computeLocalAABB ()
	Compute AABB. More...

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

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 fcl::ShapeBase
	ShapeBase ()

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

Public Member Functions inherited from 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
Vec3f *	plane_normals

FCL_REAL *	plane_dis

int *	polygons
	An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order. More...

Vec3f *	points

int	num_points

int	num_edges

int	num_planes

Edge *	edges

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 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	fillEdges ()
	Get edge information. More...

Detailed Description

Convex polytope.

Constructor & Destructor Documentation

fcl::Convex::Convex	(	Vec3f *	plane_normals_,
		FCL_REAL *	plane_dis_,
		int	num_planes_,
		Vec3f *	points_,
		int	num_points_,
		int *	polygons_
	)

inline

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

References center, edges, fillEdges(), num_planes, num_points, plane_dis, plane_normals, points, and polygons.

fcl::Convex::Convex ( const Convex & other )

inline

Copy constructor.

References edges, num_edges, num_planes, plane_dis, plane_normals, points, and polygons.

fcl::Convex::~Convex ( )

inline

References edges.

Member Function Documentation

Vec3f fcl::Convex::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from fcl::CollisionGeometry.

References num_planes, and polygons.

void fcl::Convex::computeLocalAABB ( )

virtual

Compute AABB.

Implements fcl::CollisionGeometry.

Matrix3f fcl::Convex::computeMomentofInertia ( ) const

inlinevirtual

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

Reimplemented from fcl::CollisionGeometry.

References num_planes, polygons, and fcl::transpose().

FCL_REAL fcl::Convex::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from fcl::CollisionGeometry.

References num_planes, and polygons.

void fcl::Convex::fillEdges ( )

protected

Get edge information.

Referenced by Convex().

NODE_TYPE fcl::Convex::getNodeType ( ) const

inlinevirtual

Get node type: a conex polytope.

Reimplemented from fcl::CollisionGeometry.

References fcl::GEOM_CONVEX.

Member Data Documentation

Vec3f fcl::Convex::center

center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)

Referenced by Convex().

Edge* fcl::Convex::edges

Referenced by Convex(), and ~Convex().

int fcl::Convex::num_edges

Referenced by Convex().

int fcl::Convex::num_planes

Referenced by computeCOM(), computeMomentofInertia(), computeVolume(), and Convex().

int fcl::Convex::num_points

Referenced by Convex().

FCL_REAL* fcl::Convex::plane_dis

Referenced by Convex().

Vec3f* fcl::Convex::plane_normals

Referenced by Convex().

Vec3f* fcl::Convex::points

Referenced by Convex().

int* fcl::Convex::polygons

An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order.

Referenced by computeCOM(), computeMomentofInertia(), computeVolume(), and Convex().

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation