#include <hpp/constraints/convex-shape.hh>

Collaboration diagram for hpp::constraints::ConvexShape:

Public Member Functions
	ConvexShape (const std::vector< vector3_t > &pts, JointPtr_t joint=JointPtr_t())
	Represent a convex shape. More...

	ConvexShape (const fcl::TriangleP &t, const JointPtr_t &joint=JointPtr_t())

	ConvexShape (const vector3_t &p0, const vector3_t &p1, const vector3_t &p2, const JointPtr_t &joint=JointPtr_t())
	This constructor is required for compatibility with deprecated Triangle constructor. More...

	ConvexShape (const ConvexShape &t)

void	reverse ()

vector3_t	intersectionLocal (const vector3_t &A, const vector3_t &u) const
	Intersection with a line defined by a point and a vector. More...

bool	isInsideLocal (const vector3_t &Ap) const
	As isInside but consider A as expressed in joint frame. More...

value_type	distanceLocal (const vector3_t &a) const
	Return the shortest distance from a point to the shape A negative value means the point is inside the shape. More...

const vector3_t &	planeXaxis () const
	Return the X axis of the plane in the joint frame. More...

const vector3_t &	planeYaxis () const
	Return the Y axis of the plane in the joint frame The Y axis is aligned with \( Pts_[1] - Pts_[0] \). More...

const Transform3f &	positionInJoint () const
	Transform of the shape in the joint frame. More...

Public Attributes
std::vector< vector3_t >	Pts_
	The points in the joint frame. It is constant. More...

size_t	shapeDimension_

vector3_t	C_
	the center in the joint frame. It is constant. More...

vector3_t	N_
	the normal to the shape in the joint frame. It is constant. More...

std::vector< vector3_t >	Ns_
	Ns_ and Us_ are unit vector, in the plane containing the shape, expressed in the joint frame. More...

std::vector< vector3_t >	Us_

vector_t	Ls_

Transform3f	MinJoint_

JointPtr_t	joint_

Constructor & Destructor Documentation

hpp::constraints::ConvexShape::ConvexShape	(	const std::vector< vector3_t > &	pts,
		JointPtr_t	joint = `JointPtr_t()`
	)

inline

Represent a convex shape.

Parameters

pts	a sequence of points lying in a plane. The convex shape is obtained by connecting consecutive points (in a circular way)

Note: There is no convexity check yet. The order is important: The normal is parallel to (pts[1] - pts[0]).cross (pts[2] - pts[1]) The normal to the segment in the plane are directed outward. (pts[i+1] - pts[i]).cross (normalToConvexShape)

hpp::constraints::ConvexShape::ConvexShape	(	const fcl::TriangleP &	t,
		const JointPtr_t &	joint = `JointPtr_t()`
	)

inline

hpp::constraints::ConvexShape::ConvexShape	(	const vector3_t &	p0,
		const vector3_t &	p1,
		const vector3_t &	p2,
		const JointPtr_t &	joint = `JointPtr_t()`
	)

inline

This constructor is required for compatibility with deprecated Triangle constructor.

hpp::constraints::ConvexShape::ConvexShape ( const ConvexShape & t )

inline

Member Function Documentation

value_type hpp::constraints::ConvexShape::distanceLocal ( const vector3_t & a ) const

inline

Return the shortest distance from a point to the shape A negative value means the point is inside the shape.

Parameters

a	a point already in the plane containing the convex shape, and expressed in the local frame.

References Eigen::assert(), and Eigen::d.

Referenced by hpp::constraints::ConvexShapeData::distance().

vector3_t hpp::constraints::ConvexShape::intersectionLocal	(	const vector3_t &	A,
		const vector3_t &	u
	)		const

inline

Intersection with a line defined by a point and a vector.

Parameters

A,u	point and vector expressed in the local frame.

References hpp::constraints::linePlaneIntersection().

bool hpp::constraints::ConvexShape::isInsideLocal ( const vector3_t & Ap ) const

inline

As isInside but consider A as expressed in joint frame.

References Eigen::assert().

Referenced by hpp::constraints::ConvexShapeData::isInside().

const vector3_t& hpp::constraints::ConvexShape::planeXaxis ( ) const

inline

Return the X axis of the plane in the joint frame.

References Eigen::assert().

const vector3_t& hpp::constraints::ConvexShape::planeYaxis ( ) const

inline

Return the Y axis of the plane in the joint frame The Y axis is aligned with \( Pts_[1] - Pts_[0] \).

References Eigen::assert().

const Transform3f& hpp::constraints::ConvexShape::positionInJoint ( ) const

inline

Transform of the shape in the joint frame.

void hpp::constraints::ConvexShape::reverse ( )

inline

Member Data Documentation

vector3_t hpp::constraints::ConvexShape::C_

the center in the joint frame. It is constant.

Referenced by hpp::constraints::ConvexShapeData::_recompute(), and hpp::constraints::ConvexShapeData::alignedPositionInJoint().

JointPtr_t hpp::constraints::ConvexShape::joint_

Referenced by hpp::constraints::ConvexShapeData::distance(), hpp::constraints::ConvexShapeData::isInside(), and hpp::constraints::ConvexShapeData::updateToCurrentTransform().

vector_t hpp::constraints::ConvexShape::Ls_

Transform3f hpp::constraints::ConvexShape::MinJoint_

Referenced by hpp::constraints::ConvexShapeData::alignedPositionInJoint().

vector3_t hpp::constraints::ConvexShape::N_

the normal to the shape in the joint frame. It is constant.

Referenced by hpp::constraints::ConvexShapeData::_recompute(), and hpp::constraints::ConvexShapeData::alignedPositionInJoint().

std::vector<vector3_t> hpp::constraints::ConvexShape::Ns_

Ns_ and Us_ are unit vector, in the plane containing the shape, expressed in the joint frame.

Ns_[i] is normal to edge i, pointing inside. Ns_[i] is a vector director of edge i.

std::vector<vector3_t> hpp::constraints::ConvexShape::Pts_

The points in the joint frame. It is constant.

size_t hpp::constraints::ConvexShape::shapeDimension_

Referenced by hpp::constraints::ConvexShapeData::alignedPositionInJoint().

std::vector<vector3_t> hpp::constraints::ConvexShape::Us_

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation