cone-inl.h
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35 
38 #ifndef FCL_SHAPE_CONE_INL_H
39 #define FCL_SHAPE_CONE_INL_H
40 
41 #include <iomanip>
42 #include <sstream>
43 
46 
47 namespace fcl
48 {
49 
50 //==============================================================================
51 extern template
52 class FCL_EXPORT Cone<double>;
53 
54 //==============================================================================
55 template <typename S>
56 Cone<S>::Cone(S radius, S lz)
57  : ShapeBase<S>(), radius(radius), lz(lz)
58 {
59  // Do nothing
60 }
61 
62 //==============================================================================
63 template <typename S>
65 {
66  const Vector3<S> v_delta(radius, radius, 0.5 * lz);
67  this->aabb_local.max_ = v_delta;
68  this->aabb_local.min_ = -v_delta;
69 
70  this->aabb_center = this->aabb_local.center();
71  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
72 }
73 
74 //==============================================================================
75 template <typename S>
77 {
78  return GEOM_CONE;
79 }
80 
81 //==============================================================================
82 template <typename S>
84 {
85  return constants<S>::pi() * radius * radius * lz / 3;
86 }
87 
88 //==============================================================================
89 template <typename S>
91 {
92  S V = computeVolume();
93  S ix = V * (0.1 * lz * lz + 3 * radius * radius / 20);
94  S iz = 0.3 * V * radius * radius;
95 
96  return Vector3<S>(ix, ix, iz).asDiagonal();
97 }
98 
99 //==============================================================================
100 template <typename S>
102 {
103  return Vector3<S>(0, 0, -0.25 * lz);
104 }
105 
106 //==============================================================================
107 template <typename S>
108 std::vector<Vector3<S>> Cone<S>::getBoundVertices(
109  const Transform3<S>& tf) const
110 {
111  std::vector<Vector3<S>> result(7);
112 
113  auto hl = lz * 0.5;
114  auto r2 = radius * 2 / std::sqrt(3.0);
115  auto a = 0.5 * r2;
116  auto b = radius;
117 
118  result[0] = tf * Vector3<S>(r2, 0, -hl);
119  result[1] = tf * Vector3<S>(a, b, -hl);
120  result[2] = tf * Vector3<S>(-a, b, -hl);
121  result[3] = tf * Vector3<S>(-r2, 0, -hl);
122  result[4] = tf * Vector3<S>(-a, -b, -hl);
123  result[5] = tf * Vector3<S>(a, -b, -hl);
124 
125  result[6] = tf * Vector3<S>(0, 0, hl);
126 
127  return result;
128 }
129 
130 //==============================================================================
131 template <typename S>
132 std::string Cone<S>::representation(int precision) const {
133  const char* S_str = detail::ScalarRepr<S>::value();
134  std::stringstream ss;
135  ss << std::setprecision(precision);
136  ss << "Cone<" << S_str << ">(" << radius << ", " << lz << ");";
137  return ss.str();
138 }
139 
140 } // namespace fcl
141 
142 #endif
fcl::detail::ScalarRepr::value
static const char * value()
Definition: representation.h:47
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::GEOM_CONE
@ GEOM_CONE
Definition: collision_geometry.h:54
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
cone.h
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Cone::Cone
Cone(S radius, S lz)
Definition: cone-inl.h:56
fcl::Cone::S
S_ S
Definition: cone.h:55
representation.h
fcl::Cone::representation
std::string representation(int precision=20) const
Create a string that should be sufficient to recreate this shape. This is akin to the repr() implemen...
Definition: cone-inl.h:132
fcl::Cone::computeCOM
Vector3< S > computeCOM() const override
Definition: cone-inl.h:101
fcl::constants::pi
static constexpr S pi()
The mathematical constant pi.
Definition: constants.h:134
fcl::Cone::getBoundVertices
std::vector< Vector3< S > > getBoundVertices(const Transform3< S > &tf) const
get the vertices of some convex shape which can bound this shape in a specific configuration
Definition: cone-inl.h:108
fcl::Cone::computeMomentofInertia
Matrix3< S > computeMomentofInertia() const override
Definition: cone-inl.h:90
fcl::Cone::computeVolume
S computeVolume() const override
Definition: cone-inl.h:83
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::Cone::computeLocalAABB
void computeLocalAABB() override
Compute AABB.
Definition: cone-inl.h:64
fcl::Cone::getNodeType
NODE_TYPE getNodeType() const override
Get node type: a cone.
Definition: cone-inl.h:76
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::Cone< double >
template class FCL_EXPORT Cone< double >


fcl
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autogenerated on Tue Dec 5 2023 03:40:48