fcl::details::MinkowskiDiff Struct Reference

Minkowski difference class of two shapes. More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for fcl::details::MinkowskiDiff:

Public Member Functions
	MinkowskiDiff ()
Vec3f	support0 (const Vec3f &d) const
	support function for shape0 More...
Vec3f	support1 (const Vec3f &d) const
	support function for shape1 More...
Vec3f	support (const Vec3f &d) const
	support function for the pair of shapes More...
Vec3f	support (const Vec3f &d, size_t index) const
	support function for the d-th shape (d = 0 or 1) More...
Vec3f	support0 (const Vec3f &d, const Vec3f &v) const
	support function for translating shape0, which is translating at velocity v More...
Vec3f	support (const Vec3f &d, const Vec3f &v) const
	support function for the pair of shapes, where shape0 is translating at velocity v More...
Vec3f	support (const Vec3f &d, const Vec3f &v, size_t index) const
	support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v More...

Public Attributes
const ShapeBase *	shapes [2]
	points to two shapes More...
Matrix3f	toshape1
	rotation from shape0 to shape1 More...
Transform3f	toshape0
	transform from shape1 to shape0 More...

Detailed Description

Minkowski difference class of two shapes.

Constructor & Destructor Documentation

fcl::details::MinkowskiDiff::MinkowskiDiff ( )

inline

Member Function Documentation

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f &  d ) const

inline

support function for the pair of shapes

References support0(), and support1().

Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f &  d, size_t  index  ) const

inline

support function for the d-th shape (d = 0 or 1)

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f &  d, const Vec3f &  v  ) const

inline

support function for the pair of shapes, where shape0 is translating at velocity v

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f &  d, const Vec3f &  v, size_t  index  ) const

inline

support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support0 ( const Vec3f &  d ) const

inline

support function for shape0

References fcl::details::getSupport().

Referenced by support().

Vec3f fcl::details::MinkowskiDiff::support0 ( const Vec3f &  d, const Vec3f &  v  ) const

inline

support function for translating shape0, which is translating at velocity v

References fcl::Vec3fX< T >::dot(), fcl::details::getSupport(), and v.

Vec3f fcl::details::MinkowskiDiff::support1 ( const Vec3f &  d ) const

inline

support function for shape1

References fcl::details::getSupport(), and fcl::Transform3f::transform().

Referenced by support().

Member Data Documentation

const ShapeBase* fcl::details::MinkowskiDiff::shapes[2]

points to two shapes

Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

Transform3f fcl::details::MinkowskiDiff::toshape0

transform from shape1 to shape0

Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().

Matrix3f fcl::details::MinkowskiDiff::toshape1

rotation from shape0 to shape1

Referenced by fcl::GJKSolver_indep::shapeDistance(), fcl::GJKSolver_indep::shapeIntersect(), fcl::GJKSolver_indep::shapeTriangleDistance(), and fcl::GJKSolver_indep::shapeTriangleIntersect().