Capsule It is ${ x \in \mathcal{R}^3, d(x, AB) < radius }$ where $ d(x, AB) $ is the distance between the point x and the capsule segment AB, with $ A = (0,0,-halfLength), B = (0,0,halfLength) $ . More...

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

Inheritance diagram for hpp::fcl::Capsule:

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Collaboration diagram for hpp::fcl::Capsule:

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Public Member Functions
	Capsule (FCL_REAL radius_, FCL_REAL lz_)

void	computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	getNodeType () const
	Get node type: a capsule. More...

FCL_REAL	computeVolume () const
	compute the volume More...

Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Public Member Functions inherited from hpp::fcl::ShapeBase
	ShapeBase ()

virtual	~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
	whether the object is completely occupied More...

bool	isFree () const
	whether the object is completely free More...

bool	isUncertain () const
	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 capsule. More...

FCL_REAL	halfLength
	Half Length along z axis. 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

Capsule It is ${ x \in \mathcal{R}^3, d(x, AB) < radius }$ where $ d(x, AB) $ is the distance between the point x and the capsule segment AB, with $ A = (0,0,-halfLength), B = (0,0,halfLength) $ .

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

include/hpp/fcl/shape/geometric_shapes.h

Public Member Functions

Public Attributes

Detailed Description