#include <collision_object.h>
Inheritance diagram for coal::Convex< PolygonT >:
Public Member Functions | |
| virtual Convex< PolygonT > * | clone () const |
| Clone (deep copy) More... | |
| Vec3s | computeCOM () const |
| Matrix3s | computeMomentofInertia () const |
| based on http://number-none.com/blow/inertia/bb_inertia.doc More... | |
| CoalScalar | computeVolume () const |
| Convex () | |
| Construct an uninitialized convex object. More... | |
| Convex (const Convex &other) | |
| Copy constructor Only the list of neighbors is copied. More... | |
| Convex (std::shared_ptr< std::vector< Vec3s >> points_, unsigned int num_points_, std::shared_ptr< std::vector< PolygonT >> polygons_, unsigned int num_polygons_) | |
| Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More... | |
| void | set (std::shared_ptr< std::vector< Vec3s >> points, unsigned int num_points, std::shared_ptr< std::vector< PolygonT >> polygons, unsigned int num_polygons) |
| Set the current Convex from a list of points and polygons. More... | |
| ~Convex () | |
Public Attributes | |
| unsigned int | num_polygons |
| std::shared_ptr< std::vector< PolygonT > > | polygons |
| An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. More... | |
Protected Member Functions | |
| void | fillNeighbors () |
Detailed Description
template<typename PolygonT>
class coal::Convex< PolygonT >
Convex polytope.
- Template Parameters
-
PolygonT the polygon class. It must have method size()andoperator[](int i)
Definition at line 51 of file coal/serialization/collision_object.h.
Constructor & Destructor Documentation
◆ Convex() [1/3]
template<typename PolygonT >
|
inline |
Construct an uninitialized convex object.
Definition at line 52 of file coal/shape/convex.h.
◆ Convex() [2/3]
template<typename PolygonT >
| coal::Convex< PolygonT >::Convex | ( | std::shared_ptr< std::vector< Vec3s >> | points_, |
| unsigned int | num_points_, | ||
| std::shared_ptr< std::vector< PolygonT >> | polygons_, | ||
| unsigned 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() [3/3]
template<typename PolygonT >
| coal::Convex< PolygonT >::Convex | ( | const Convex< PolygonT > & | other | ) |
Copy constructor Only the list of neighbors is copied.
◆ ~Convex()
template<typename PolygonT >
| coal::Convex< PolygonT >::~Convex | ( | ) |
Member Function Documentation
◆ clone()
template<typename PolygonT >
|
virtual |
Clone (deep copy)
◆ computeCOM()
template<typename PolygonT >
| Vec3s coal::Convex< PolygonT >::computeCOM | ( | ) | const |
◆ computeMomentofInertia()
template<typename PolygonT >
| Matrix3s coal::Convex< PolygonT >::computeMomentofInertia | ( | ) | const |
◆ computeVolume()
template<typename PolygonT >
| CoalScalar coal::Convex< PolygonT >::computeVolume | ( | ) | const |
◆ fillNeighbors()
template<typename PolygonT >
|
protected |
◆ set()
template<typename PolygonT >
| void coal::Convex< PolygonT >::set | ( | std::shared_ptr< std::vector< Vec3s >> | points, |
| unsigned int | num_points, | ||
| std::shared_ptr< std::vector< PolygonT >> | polygons, | ||
| unsigned int | num_polygons | ||
| ) |
Set the current Convex from a list of points and polygons.
- 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.
Member Data Documentation
◆ num_polygons
template<typename PolygonT >
| unsigned int coal::Convex< PolygonT >::num_polygons |
Definition at line 102 of file coal/shape/convex.h.
◆ polygons
template<typename PolygonT >
| std::shared_ptr<std::vector<PolygonT> > coal::Convex< PolygonT >::polygons |
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.
Definition at line 101 of file coal/shape/convex.h.
The documentation for this class was generated from the following files: