hpp-fcl
1.4.4
HPP fork of FCL -- The Flexible Collision Library
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Base for convex polytope. More...
#include <hpp/fcl/shape/geometric_shapes.h>
Classes | |
struct | Neighbors |
Public Member Functions | |
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 Vec3f | computeCOM () const |
compute center of mass More... | |
virtual Matrix3f | computeMomentofInertia () const |
compute the inertia matrix, related to the origin More... | |
virtual FCL_REAL | computeVolume () const |
compute the volume More... | |
virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com More... | |
Public Attributes | |
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 | |
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... | |
Protected Attributes | |
unsigned int * | nneighbors_ |
bool | own_storage_ |
Base for convex polytope.