hpp::constraints::ConvexShape Class Reference

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

Public Member Functions
	ConvexShape (const std::vector< vector3_t > &pts, JointPtr_t joint=JointPtr_t())
	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())
	ConvexShape (const ConvexShape &t)
void	reverse ()
vector3_t	intersectionLocal (const vector3_t &A, const vector3_t &u) const
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
const vector3_t &	planeXaxis () const
	Return the X axis of the plane in the joint frame. More...
const vector3_t &	planeYaxis () const
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_
std::vector< vector3_t >	Us_
vector_t	Ls_
Transform3f	MinJoint_
JointPtr_t	joint_

Constructor & Destructor Documentation

ConvexShape() [1/4]

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)

ConvexShape() [2/4]

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

inline

ConvexShape() [3/4]

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.

ConvexShape() [4/4]

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

inline

Member Function Documentation

distanceLocal()

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.

intersectionLocal()

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.

isInsideLocal()

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

inline

As isInside but consider A as expressed in joint frame.

planeXaxis()

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

inline

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

planeYaxis()

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 \( Pts_[1] - Pts_[0] \)

positionInJoint()

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

inline

Transform of the shape in the joint frame.

reverse()

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

inline

Member Data Documentation

C_

vector3_t hpp::constraints::ConvexShape::C_

the center in the joint frame. It is constant.

joint_

JointPtr_t hpp::constraints::ConvexShape::joint_

Ls_

vector_t hpp::constraints::ConvexShape::Ls_

MinJoint_

Transform3f hpp::constraints::ConvexShape::MinJoint_

N_

vector3_t hpp::constraints::ConvexShape::N_

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

Ns_

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.

Pts_

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

The points in the joint frame. It is constant.

shapeDimension_

size_t hpp::constraints::ConvexShape::shapeDimension_

Us_

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

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The documentation for this class was generated from the following file:

• include/hpp/constraints/convex-shape.hh