hpp::fcl::Halfspace Class Reference
Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. More...
#include <hpp/fcl/shape/geometric_shapes.h>
Inheritance diagram for hpp::fcl::Halfspace:
Collaboration diagram for hpp::fcl::Halfspace:
Public Member Functions | |
| Halfspace (const Vec3f &n_, FCL_REAL d_) | |
| Construct a half space with normal direction and offset. More... | |
| Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_) | |
| Construct a plane with normal direction and offset. More... | |
| Halfspace () | |
| FCL_REAL | signedDistance (const Vec3f &p) const |
| FCL_REAL | distance (const Vec3f &p) const |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a half space. 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 | n |
| Plane normal. More... | |
| FCL_REAL | d |
| Plane offset. 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 | unitNormalTest () |
| Turn non-unit normal into unit. More... | |
Detailed Description
Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space.
The documentation for this class was generated from the following file:
- include/hpp/fcl/shape/geometric_shapes.h
