hpp::fcl::Convex Class Reference

Convex polytope. More...

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

Inheritance diagram for hpp::fcl::Convex:

Collaboration diagram for hpp::fcl::Convex:

Classes
struct	Edge

Public Member Functions
	Convex (Vec3f *points_, int num_points_, int *polygons_, int num_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 hpp::fcl::ShapeBase
	ShapeBase ()
OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape. More...
Public Member Functions inherited from hpp::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 HPP_FCL_DEPRECATED
	whether the object is completely occupied More...
bool	isFree () const HPP_FCL_DEPRECATED
	whether the object is completely free More...
bool	isUncertain () const HPP_FCL_DEPRECATED
	whether the object has some uncertainty More...
virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
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_polygons
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 hpp::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

hpp::fcl::Convex::Convex ( Vec3f *  points_, int  num_points_, int *  polygons_, int  num_polygons_  )

inline

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

Parameters

points_	list of 3D points
num_points_	number of 3D points
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.
num_polygons_	the number of polygons.

Note

num_polygons_ is not the allocated size of polygons_.

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

inline

Copy constructor.

References edges, num_edges, num_points, num_polygons, points, and polygons.

hpp::fcl::Convex::~Convex ( )

inline

References hpp::fcl::CollisionGeometry::computeLocalAABB().

Member Function Documentation

Vec3f hpp::fcl::Convex::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

void hpp::fcl::Convex::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Matrix3f hpp::fcl::Convex::computeMomentofInertia ( ) const

inlinevirtual

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

Reimplemented from hpp::fcl::CollisionGeometry.

FCL_REAL hpp::fcl::Convex::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

void hpp::fcl::Convex::fillEdges ( )

protected

Get edge information.

NODE_TYPE hpp::fcl::Convex::getNodeType ( ) const

inlinevirtual

Get node type: a conex polytope.

Reimplemented from hpp::fcl::CollisionGeometry.

References hpp::fcl::GEOM_CONVEX.

Member Data Documentation

Vec3f hpp::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)

Edge* hpp::fcl::Convex::edges

Referenced by Convex().

int hpp::fcl::Convex::num_edges

Referenced by Convex().

int hpp::fcl::Convex::num_points

Referenced by Convex(), hpp::fcl::details::convexHalfspaceIntersect(), and hpp::fcl::details::convexPlaneIntersect().

int hpp::fcl::Convex::num_polygons

Referenced by Convex().

Vec3f* hpp::fcl::Convex::points

Referenced by Convex(), hpp::fcl::details::convexHalfspaceIntersect(), and hpp::fcl::details::convexPlaneIntersect().

int* hpp::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 Convex().