hpp::fcl::Convex< PolygonT > Class Template Reference
#include <hpp/fcl/shape/convex.h>
Inheritance diagram for hpp::fcl::Convex< PolygonT >:
Collaboration diagram for hpp::fcl::Convex< PolygonT >:
Public Member Functions | |
| Convex (bool ownStorage, Vec3f *points_, int num_points_, PolygonT *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 Only the list of neighbors is copied. More... | |
| ~Convex () | |
| 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::ConvexBase | |
| virtual | ~ConvexBase () |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a conex polytope. 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 Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
Public Attributes | |
| PolygonT * | polygons |
| An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. More... | |
| int | num_polygons |
| Public Attributes inherited from hpp::fcl::ConvexBase | |
| Vec3f * | points |
| An array of the points of the polygon. More... | |
| int | num_points |
| Neighbors * | neighbors |
| 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 | fillNeighbors () |
| Protected Member Functions inherited from hpp::fcl::ConvexBase | |
| ConvexBase (bool ownStorage, Vec3f *points_, int num_points_) | |
| Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More... | |
| ConvexBase (const ConvexBase &other) | |
| Copy constructor Only the list of neighbors is copied. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from hpp::fcl::ConvexBase | |
| unsigned int * | nneighbors_ |
| bool | own_storage_ |
Detailed Description
template<typename PolygonT>
class hpp::fcl::Convex< PolygonT >
Convex polytope.
- Template Parameters
-
PolygonT the polygon class. It must have method size()andoperator[](int i)
Constructor & Destructor Documentation
◆ Convex() [1/2]
template<typename PolygonT >
| hpp::fcl::Convex< PolygonT >::Convex | ( | bool | ownStorage, |
| Vec3f * | points_, | ||
| int | num_points_, | ||
| PolygonT * | polygons_, | ||
| int | num_polygons_ | ||
| ) |
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
- Parameters
-
ownStorage whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction. points_ list of 3D points num_points_ number of 3D points polygons_ An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. num_polygons_ the number of polygons.
- Note
- num_polygons_ is not the allocated size of polygons_.
◆ Convex() [2/2]
template<typename PolygonT >
| hpp::fcl::Convex< PolygonT >::Convex | ( | const Convex< PolygonT > & | other | ) |
Copy constructor Only the list of neighbors is copied.
◆ ~Convex()
template<typename PolygonT >
| hpp::fcl::Convex< PolygonT >::~Convex | ( | ) |
Member Function Documentation
◆ computeCOM()
template<typename PolygonT >
|
virtual |
compute center of mass
Reimplemented from hpp::fcl::CollisionGeometry.
◆ computeMomentofInertia()
template<typename PolygonT >
|
virtual |
based on http://number-none.com/blow/inertia/bb_inertia.doc
Reimplemented from hpp::fcl::CollisionGeometry.
◆ computeVolume()
template<typename PolygonT >
|
virtual |
compute the volume
Reimplemented from hpp::fcl::CollisionGeometry.
◆ fillNeighbors()
template<typename PolygonT >
|
protected |
Member Data Documentation
◆ num_polygons
template<typename PolygonT>
| int hpp::fcl::Convex< PolygonT >::num_polygons |
◆ polygons
template<typename PolygonT>
| PolygonT* hpp::fcl::Convex< PolygonT >::polygons |
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.
The documentation for this class was generated from the following files:
- include/hpp/fcl/shape/convex.h
- include/hpp/fcl/shape/details/convex.hxx
