Base for convex polytope. More...
#include <geometric_shapes.h>
Inheritance diagram for hpp::fcl::ConvexBase:
Classes | |
| struct | Neighbors |
Public Member Functions | |
| virtual ConvexBase * | clone () const |
| More... | |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a conex polytope. More... | |
| virtual | ~ConvexBase () |
 Public Member Functions inherited from hpp::fcl::ShapeBase | |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| ShapeBase & | operator= (const ShapeBase &other)=default |
| ShapeBase () | |
| ShapeBase (const ShapeBase &other) | |
| More... | |
| virtual | ~ShapeBase () |
| Public Member Functions inherited from hpp::fcl::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual Vec3f | computeCOM () const |
| compute center of mass More... | |
| virtual Matrix3f | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| virtual FCL_REAL | computeVolume () const |
| compute the volume More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
Static Public Member Functions | |
| static ConvexBase * | convexHull (const Vec3f *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
| Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More... | |
Public Attributes | |
| 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... | |
| Neighbors * | neighbors |
| unsigned int | num_points |
| Vec3f * | points |
| An array of the points of the polygon. More... | |
| Public Attributes inherited from hpp::fcl::CollisionGeometry | |
| Vec3f | aabb_center |
| AABB center in local coordinate. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| FCL_REAL | aabb_radius |
| AABB radius. More... | |
| FCL_REAL | cost_density |
| collision cost for unit volume More... | |
| FCL_REAL | threshold_free |
| threshold for free (<= is free) More... | |
| FCL_REAL | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Protected Member Functions | |
| ConvexBase () | |
| Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More... | |
| ConvexBase (const ConvexBase &other) | |
| Copy constructor Only the list of neighbors is copied. More... | |
| void | initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
| Initialize the points of the convex shape This also initializes the ConvexBase::center. More... | |
| void | set (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
| Set the points of the convex shape. More... | |
Protected Attributes | |
| unsigned int * | nneighbors_ |
| bool | own_storage_ |
Private Member Functions | |
| void | computeCenter () |
| virtual bool | isEqual (const CollisionGeometry &_other) const |
| equal operator with another object of derived type. More... | |
Detailed Description
Base for convex polytope.
- Note
- Inherited classes are responsible for filling ConvexBase::neighbors;
Definition at line 581 of file shape/geometric_shapes.h.
The documentation for this class was generated from the following files: