hpp::fcl::details::MinkowskiDiff Struct Reference

Minkowski difference class of two shapes. More...

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

Collaboration diagram for hpp::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...

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.

Note

The Minkowski difference is expressed in the frame of the first shape.

Constructor & Destructor Documentation

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

inline

Member Function Documentation

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

inline

support function for the pair of shapes

References support0(), and support1().

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

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

inline

support function for shape0

References hpp::fcl::details::getSupport().

Referenced by support().

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

inline

support function for shape1

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

Referenced by support().

Member Data Documentation

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

points to two shapes

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

Transform3f hpp::fcl::details::MinkowskiDiff::toshape0

transform from shape1 to shape0

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().

Matrix3f hpp::fcl::details::MinkowskiDiff::toshape1

rotation from shape0 to shape1

Referenced by hpp::fcl::GJKSolver_indep::shapeDistance(), hpp::fcl::GJKSolver_indep::shapeIntersect(), and hpp::fcl::GJKSolver_indep::shapeTriangleInteraction().