hpp::fcl::Sphere Class Reference

Center at zero point sphere. More...

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

Inheritance diagram for hpp::fcl::Sphere:

Collaboration diagram for hpp::fcl::Sphere:

Public Member Functions
	Sphere (FCL_REAL radius_)
void	computeLocalAABB ()
	Compute AABB. More...
NODE_TYPE	getNodeType () const
	Get node type: a sphere. More...
Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin 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 Vec3f	computeCOM () const
	compute center of mass More...
virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
FCL_REAL	radius
	Radius of the sphere. 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...

Detailed Description

Center at zero point sphere.

Constructor & Destructor Documentation

hpp::fcl::Sphere::Sphere ( FCL_REAL  radius_ )

inline

Member Function Documentation

void hpp::fcl::Sphere::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

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

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

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

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

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

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

inlinevirtual

Get node type: a sphere.

Reimplemented from hpp::fcl::CollisionGeometry.

References hpp::fcl::GEOM_SPHERE.

Member Data Documentation

FCL_REAL hpp::fcl::Sphere::radius

Radius of the sphere.

Referenced by hpp::fcl::details::boxSphereDistance(), hpp::fcl::generateBVHModel(), hpp::fcl::details::sphereCapsuleDistance(), hpp::fcl::details::sphereCapsuleIntersect(), hpp::fcl::details::sphereCylinderDistance(), hpp::fcl::details::sphereHalfspaceIntersect(), hpp::fcl::details::spherePlaneIntersect(), hpp::fcl::details::sphereSphereDistance(), hpp::fcl::details::sphereSphereIntersect(), hpp::fcl::details::sphereTriangleDistance(), and hpp::fcl::details::sphereTriangleIntersect().