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

Public Member Functions
void	updateToCurrentTransform (const ConvexShape &cs)
	Compute center and normal in world frame. More...

void	updateToCurrentTransform (const ConvexShape &cs, const pinocchio::DeviceData &d)
	Compute center and normal in world frame Thread safe version. More...

template<bool WorldFrame>
void	_recompute (const ConvexShape &cs)

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

bool	isInside (const ConvexShape &cs, const vector3_t &A, const vector3_t &u) const
	Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle. More...

bool	isInside (const ConvexShape &cs, const vector3_t &Ap) const
	Check whether the point As in world frame is inside the triangle. More...

Transform3f	alignedPositionInJoint (const ConvexShape &cs, vector3_t yaxis) const

value_type	distance (const ConvexShape &cs, vector3_t a) const
	See ConvexShape::distance. More...

Public Attributes
vector3_t	normal_

vector3_t	center_

Transform3f	oMj_

Member Function Documentation

template<bool WorldFrame>

void hpp::constraints::ConvexShapeData::_recompute ( const ConvexShape & cs )

inline

References hpp::constraints::ConvexShape::C_, and hpp::constraints::ConvexShape::N_.

Transform3f hpp::constraints::ConvexShapeData::alignedPositionInJoint	(	const ConvexShape &	cs,
		vector3_t	yaxis
	)		const

inline

Parameters

yaxis vector in world frame to which we should try to align

References Eigen::assert(), hpp::constraints::ConvexShape::C_, hpp::constraints::ConvexShape::MinJoint_, hpp::constraints::ConvexShape::N_, and hpp::constraints::ConvexShape::shapeDimension_.

value_type hpp::constraints::ConvexShapeData::distance	(	const ConvexShape &	cs,
		vector3_t	a
	)		const

inline

See ConvexShape::distance.

Parameters

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

References hpp::constraints::ConvexShape::distanceLocal(), and hpp::constraints::ConvexShape::joint_.

vector3_t hpp::constraints::ConvexShapeData::intersection	(	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 world frame.

References hpp::constraints::linePlaneIntersection().

bool hpp::constraints::ConvexShapeData::isInside	(	const ConvexShape &	cs,
		const vector3_t &	A,
		const vector3_t &	u
	)		const

inline

Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle.

Parameters

A,u	point and vector in world frame defining the line \( A + t*u \)

bool hpp::constraints::ConvexShapeData::isInside	(	const ConvexShape &	cs,
		const vector3_t &	Ap
	)		const

inline

Check whether the point As in world frame is inside the triangle.

References hpp::constraints::ConvexShape::isInsideLocal(), and hpp::constraints::ConvexShape::joint_.

void hpp::constraints::ConvexShapeData::updateToCurrentTransform ( const ConvexShape & cs )

inline

Compute center and normal in world frame.

References hpp::constraints::ConvexShape::joint_.

void hpp::constraints::ConvexShapeData::updateToCurrentTransform	(	const ConvexShape &	cs,
		const pinocchio::DeviceData &	d
	)

inline

Compute center and normal in world frame Thread safe version.

References hpp::constraints::ConvexShape::joint_.

Member Data Documentation

vector3_t hpp::constraints::ConvexShapeData::center_

vector3_t hpp::constraints::ConvexShapeData::normal_

Transform3f hpp::constraints::ConvexShapeData::oMj_

Public Member Functions

Public Attributes

Member Function Documentation

Member Data Documentation