Classes of different types of geometric shapes. More...

Classes
class	hpp::fcl::Box
	Center at zero point, axis aligned box. More...

class	hpp::fcl::Capsule
	Capsule It is ${ x~\in~\mathbb{R}^3, d(x, AB) \leq radius }$ where is the distance between the point x and the capsule segment AB, with . More...

class	hpp::fcl::Cone
	Cone The base of the cone is at and the top is at . More...

class	hpp::fcl::Convex< PolygonT >
	Convex polytope. More...

class	hpp::fcl::ConvexBase
	Base for convex polytope. More...

class	hpp::fcl::Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...

class	hpp::fcl::Ellipsoid
	Ellipsoid centered at point zero. More...

class	hpp::fcl::Halfspace
	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...

struct	hpp::fcl::ConvexBase::Neighbors

class	hpp::fcl::Plane
	Infinite plane. More...

class	hpp::fcl::Sphere
	Center at zero point sphere. More...

class	hpp::fcl::TriangleP
	Triangle stores the points instead of only indices of points. More...

Functions
	hpp::fcl::Box::Box ()
	Default constructor. More...

	hpp::fcl::Box::Box (const Box &other)

	hpp::fcl::Box::Box (const Vec3f &side_)

	hpp::fcl::Box::Box (FCL_REAL x, FCL_REAL y, FCL_REAL z)

	hpp::fcl::Capsule::Capsule ()
	Default constructor. More...

	hpp::fcl::Capsule::Capsule (const Capsule &other)

	hpp::fcl::Capsule::Capsule (FCL_REAL radius_, FCL_REAL lz_)

virtual TriangleP *	hpp::fcl::TriangleP::clone () const
	Clone *this into a new TriangleP. More...

virtual Box *	hpp::fcl::Box::clone () const
	Clone *this into a new Box. More...

virtual Sphere *	hpp::fcl::Sphere::clone () const
	Clone *this into a new Sphere. More...

virtual Ellipsoid *	hpp::fcl::Ellipsoid::clone () const
	Clone *this into a new Ellipsoid. More...

virtual Capsule *	hpp::fcl::Capsule::clone () const
	Clone *this into a new Capsule. More...

virtual Cone *	hpp::fcl::Cone::clone () const
	Clone *this into a new Cone. More...

virtual Cylinder *	hpp::fcl::Cylinder::clone () const
	Clone *this into a new Cylinder. More...

virtual ConvexBase *	hpp::fcl::ConvexBase::clone () const
	More...

virtual Halfspace *	hpp::fcl::Halfspace::clone () const
	Clone *this into a new Halfspace. More...

virtual Plane *	hpp::fcl::Plane::clone () const
	Clone *this into a new Plane. More...

void	hpp::fcl::ConvexBase::computeCenter ()

Vec3f	hpp::fcl::Cone::computeCOM () const
	compute center of mass More...

void	hpp::fcl::TriangleP::computeLocalAABB ()
	virtual function of compute AABB in local coordinate More...

void	hpp::fcl::Box::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Sphere::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Ellipsoid::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Capsule::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Cone::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Cylinder::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::ConvexBase::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Halfspace::computeLocalAABB ()
	Compute AABB. More...

void	hpp::fcl::Plane::computeLocalAABB ()
	Compute AABB. More...

Matrix3f	hpp::fcl::Box::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Matrix3f	hpp::fcl::Sphere::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Matrix3f	hpp::fcl::Ellipsoid::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Matrix3f	hpp::fcl::Capsule::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Matrix3f	hpp::fcl::Cone::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Matrix3f	hpp::fcl::Cylinder::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

FCL_REAL	hpp::fcl::Box::computeVolume () const
	compute the volume More...

FCL_REAL	hpp::fcl::Sphere::computeVolume () const
	compute the volume More...

FCL_REAL	hpp::fcl::Ellipsoid::computeVolume () const
	compute the volume More...

FCL_REAL	hpp::fcl::Capsule::computeVolume () const
	compute the volume More...

FCL_REAL	hpp::fcl::Cone::computeVolume () const
	compute the volume More...

FCL_REAL	hpp::fcl::Cylinder::computeVolume () const
	compute the volume More...

	hpp::fcl::Cone::Cone ()
	Default constructor. More...

	hpp::fcl::Cone::Cone (const Cone &other)

	hpp::fcl::Cone::Cone (FCL_REAL radius_, FCL_REAL lz_)

	hpp::fcl::ConvexBase::ConvexBase ()
	Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More...

	hpp::fcl::ConvexBase::ConvexBase (const ConvexBase &other)
	Copy constructor Only the list of neighbors is copied. More...

static ConvexBase *	hpp::fcl::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...

unsigned char const &	hpp::fcl::ConvexBase::Neighbors::count () const

	hpp::fcl::Cylinder::Cylinder ()
	Default constructor. More...

	hpp::fcl::Cylinder::Cylinder (const Cylinder &other)

	hpp::fcl::Cylinder::Cylinder (FCL_REAL radius_, FCL_REAL lz_)

FCL_REAL	hpp::fcl::Halfspace::distance (const Vec3f &p) const

FCL_REAL	hpp::fcl::Plane::distance (const Vec3f &p) const

	hpp::fcl::Ellipsoid::Ellipsoid ()
	Default constructor. More...

	hpp::fcl::Ellipsoid::Ellipsoid (const Ellipsoid &other)

	hpp::fcl::Ellipsoid::Ellipsoid (const Vec3f &radii)

	hpp::fcl::Ellipsoid::Ellipsoid (FCL_REAL rx, FCL_REAL ry, FCL_REAL rz)

NODE_TYPE	hpp::fcl::TriangleP::getNodeType () const
	get the node type More...

NODE_TYPE	hpp::fcl::Box::getNodeType () const
	Get node type: a box. More...

NODE_TYPE	hpp::fcl::Sphere::getNodeType () const
	Get node type: a sphere. More...

NODE_TYPE	hpp::fcl::Ellipsoid::getNodeType () const
	Get node type: an ellipsoid. More...

NODE_TYPE	hpp::fcl::Capsule::getNodeType () const
	Get node type: a capsule. More...

NODE_TYPE	hpp::fcl::Cone::getNodeType () const
	Get node type: a cone. More...

NODE_TYPE	hpp::fcl::Cylinder::getNodeType () const
	Get node type: a cylinder. More...

NODE_TYPE	hpp::fcl::ConvexBase::getNodeType () const
	Get node type: a conex polytope. More...

NODE_TYPE	hpp::fcl::Halfspace::getNodeType () const
	Get node type: a half space. More...

NODE_TYPE	hpp::fcl::Plane::getNodeType () const
	Get node type: a plane. More...

OBJECT_TYPE	hpp::fcl::ShapeBase::getObjectType () const
	Get object type: a geometric shape. More...

	hpp::fcl::Halfspace::Halfspace ()

	hpp::fcl::Halfspace::Halfspace (const Halfspace &other)

	hpp::fcl::Halfspace::Halfspace (const Vec3f &n_, FCL_REAL d_)
	Construct a half space with normal direction and offset. More...

	hpp::fcl::Halfspace::Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

std::pair< Box, Transform3f >	hpp::fcl::Box::inflated (const FCL_REAL value) const
	Inflate the box by an amount given by value. More...

std::pair< Sphere, Transform3f >	hpp::fcl::Sphere::inflated (const FCL_REAL value) const
	Inflate the sphere by an amount given by value. More...

std::pair< Ellipsoid, Transform3f >	hpp::fcl::Ellipsoid::inflated (const FCL_REAL value) const
	Inflate the ellipsoid by an amount given by value. More...

std::pair< Capsule, Transform3f >	hpp::fcl::Capsule::inflated (const FCL_REAL value) const
	Inflate the capsule by an amount given by value. More...

std::pair< Cone, Transform3f >	hpp::fcl::Cone::inflated (const FCL_REAL value) const
	Inflate the cone by an amount given by value. More...

std::pair< Cylinder, Transform3f >	hpp::fcl::Cylinder::inflated (const FCL_REAL value) const
	Inflate the cylinder by an amount given by value. More...

std::pair< Halfspace, Transform3f >	hpp::fcl::Halfspace::inflated (const FCL_REAL value) const
	Inflate the cylinder by an amount given by value. More...

void	hpp::fcl::ConvexBase::initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_)
	Initialize the points of the convex shape This also initializes the ConvexBase::center. More...

virtual bool	hpp::fcl::TriangleP::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Box::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Sphere::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Ellipsoid::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Capsule::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Cone::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Cylinder::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::ConvexBase::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Halfspace::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

virtual bool	hpp::fcl::Plane::isEqual (const CollisionGeometry &_other) const
	equal operator with another object of derived type. More...

FCL_REAL	hpp::fcl::Box::minInflationValue () const

FCL_REAL	hpp::fcl::Sphere::minInflationValue () const

FCL_REAL	hpp::fcl::Ellipsoid::minInflationValue () const

FCL_REAL	hpp::fcl::Capsule::minInflationValue () const

FCL_REAL	hpp::fcl::Cone::minInflationValue () const

FCL_REAL	hpp::fcl::Cylinder::minInflationValue () const

FCL_REAL	hpp::fcl::Halfspace::minInflationValue () const

bool	hpp::fcl::ConvexBase::Neighbors::operator!= (const Neighbors &other) const

Box &	hpp::fcl::Box::operator= (const Box &other)

Cylinder &	hpp::fcl::Cylinder::operator= (const Cylinder &other)

Halfspace &	hpp::fcl::Halfspace::operator= (const Halfspace &other)
	operator = More...

Plane &	hpp::fcl::Plane::operator= (const Plane &other)
	operator = More...

ShapeBase &	hpp::fcl::ShapeBase::operator= (const ShapeBase &other)=default

bool	hpp::fcl::ConvexBase::Neighbors::operator== (const Neighbors &other) const

unsigned int &	hpp::fcl::ConvexBase::Neighbors::operator[] (int i)

unsigned int const &	hpp::fcl::ConvexBase::Neighbors::operator[] (int i) const

	hpp::fcl::Plane::Plane ()

	hpp::fcl::Plane::Plane (const Plane &other)

	hpp::fcl::Plane::Plane (const Vec3f &n_, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

	hpp::fcl::Plane::Plane (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

void	hpp::fcl::ConvexBase::set (bool ownStorage, Vec3f *points_, unsigned int num_points_)
	Set the points of the convex shape. More...

	hpp::fcl::ShapeBase::ShapeBase ()

	hpp::fcl::ShapeBase::ShapeBase (const ShapeBase &other)
	More...

FCL_REAL	hpp::fcl::Halfspace::signedDistance (const Vec3f &p) const

FCL_REAL	hpp::fcl::Plane::signedDistance (const Vec3f &p) const

	hpp::fcl::Sphere::Sphere ()
	Default constructor. More...

	hpp::fcl::Sphere::Sphere (const Sphere &other)

	hpp::fcl::Sphere::Sphere (FCL_REAL radius_)

	hpp::fcl::TriangleP::TriangleP ()

	hpp::fcl::TriangleP::TriangleP (const TriangleP &other)

	hpp::fcl::TriangleP::TriangleP (const Vec3f &a_, const Vec3f &b_, const Vec3f &c_)

void	hpp::fcl::Halfspace::unitNormalTest ()
	Turn non-unit normal into unit. More...

void	hpp::fcl::Plane::unitNormalTest ()
	Turn non-unit normal into unit. More...

virtual	hpp::fcl::ConvexBase::~ConvexBase ()

virtual	hpp::fcl::ShapeBase::~ShapeBase ()

Variables
Vec3f	hpp::fcl::TriangleP::a

Vec3f	hpp::fcl::TriangleP::b

Vec3f	hpp::fcl::TriangleP::c

Vec3f	hpp::fcl::ConvexBase::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...

unsigned char	hpp::fcl::ConvexBase::Neighbors::count_

FCL_REAL	hpp::fcl::Halfspace::d
	Plane offset. More...

FCL_REAL	hpp::fcl::Plane::d
	Plane offset. More...

FCL_REAL	hpp::fcl::Capsule::halfLength
	Half Length along z axis. More...

FCL_REAL	hpp::fcl::Cone::halfLength
	Half Length along z axis. More...

FCL_REAL	hpp::fcl::Cylinder::halfLength
	Half Length along z axis. More...

Vec3f	hpp::fcl::Box::halfSide
	box side half-length More...

Vec3f	hpp::fcl::Halfspace::n
	Plane normal. More...

Vec3f	hpp::fcl::Plane::n
	Plane normal. More...

unsigned int *	hpp::fcl::ConvexBase::Neighbors::n_

Neighbors *	hpp::fcl::ConvexBase::neighbors

unsigned int *	hpp::fcl::ConvexBase::nneighbors_

unsigned int	hpp::fcl::ConvexBase::num_points

bool	hpp::fcl::ConvexBase::own_storage_

Vec3f *	hpp::fcl::ConvexBase::points
	An array of the points of the polygon. More...

Vec3f	hpp::fcl::Ellipsoid::radii
	Radii of the Ellipsoid (such that on boundary: x^2/rx^2 + y^2/ry^2. More...

FCL_REAL	hpp::fcl::Sphere::radius
	Radius of the sphere. More...

FCL_REAL	hpp::fcl::Capsule::radius
	Radius of capsule. More...

FCL_REAL	hpp::fcl::Cone::radius
	Radius of the cone. More...

FCL_REAL	hpp::fcl::Cylinder::radius
	Radius of the cylinder. More...

Detailed Description

Classes of different types of geometric shapes.

Function Documentation

◆ Box() [1/4]

hpp::fcl::Box::Box ( )

inline

Default constructor.

Definition at line 145 of file shape/geometric_shapes.h.

◆ Box() [2/4]

hpp::fcl::Box::Box ( const Box & other )

inline

Definition at line 132 of file shape/geometric_shapes.h.

◆ Box() [3/4]

hpp::fcl::Box::Box ( const Vec3f & side_ )

inline

Definition at line 130 of file shape/geometric_shapes.h.

◆ Box() [4/4]

hpp::fcl::Box::Box	(	FCL_REAL	x,
		FCL_REAL	y,
		FCL_REAL	z
	)

inline

Definition at line 127 of file shape/geometric_shapes.h.

◆ Capsule() [1/3]

hpp::fcl::Capsule::Capsule ( )

inline

Default constructor.

Definition at line 336 of file shape/geometric_shapes.h.

◆ Capsule() [2/3]

hpp::fcl::Capsule::Capsule ( const Capsule & other )

inline

Definition at line 342 of file shape/geometric_shapes.h.

◆ Capsule() [3/3]

hpp::fcl::Capsule::Capsule	(	FCL_REAL	radius_,
		FCL_REAL	lz_
	)

inline

Definition at line 338 of file shape/geometric_shapes.h.

◆ clone() [1/10]

virtual TriangleP* hpp::fcl::TriangleP::clone ( ) const

inlinevirtual

Clone *this into a new TriangleP.

Implements hpp::fcl::CollisionGeometry.

Definition at line 82 of file shape/geometric_shapes.h.

◆ clone() [2/10]

virtual Box* hpp::fcl::Box::clone ( ) const

inlinevirtual

Clone *this into a new Box.

Implements hpp::fcl::CollisionGeometry.

Definition at line 142 of file shape/geometric_shapes.h.

◆ clone() [3/10]

virtual Sphere* hpp::fcl::Sphere::clone ( ) const

inlinevirtual

Clone *this into a new Sphere.

Implements hpp::fcl::CollisionGeometry.

Definition at line 206 of file shape/geometric_shapes.h.

◆ clone() [4/10]

virtual Ellipsoid* hpp::fcl::Ellipsoid::clone ( ) const

inlinevirtual

Clone *this into a new Ellipsoid.

Implements hpp::fcl::CollisionGeometry.

Definition at line 271 of file shape/geometric_shapes.h.

◆ clone() [5/10]

virtual Capsule* hpp::fcl::Capsule::clone ( ) const

inlinevirtual

Clone *this into a new Capsule.

Implements hpp::fcl::CollisionGeometry.

Definition at line 346 of file shape/geometric_shapes.h.

◆ clone() [6/10]

virtual Cone* hpp::fcl::Cone::clone ( ) const

inlinevirtual

Clone *this into a new Cone.

Implements hpp::fcl::CollisionGeometry.

Definition at line 427 of file shape/geometric_shapes.h.

◆ clone() [7/10]

virtual Cylinder* hpp::fcl::Cylinder::clone ( ) const

inlinevirtual

Clone *this into a new Cylinder.

Implements hpp::fcl::CollisionGeometry.

Definition at line 522 of file shape/geometric_shapes.h.

◆ clone() [8/10]

virtual ConvexBase* hpp::fcl::ConvexBase::clone ( ) const

inlinevirtual

Clone (deep copy).

Implements hpp::fcl::CollisionGeometry.

Reimplemented in hpp::fcl::Convex< PolygonT >.

Definition at line 602 of file shape/geometric_shapes.h.

◆ clone() [9/10]

virtual Halfspace* hpp::fcl::Halfspace::clone ( ) const

inlinevirtual

Clone *this into a new Halfspace.

Implements hpp::fcl::CollisionGeometry.

Definition at line 755 of file shape/geometric_shapes.h.

◆ clone() [10/10]

virtual Plane* hpp::fcl::Plane::clone ( ) const

inlinevirtual

Clone *this into a new Plane.

Implements hpp::fcl::CollisionGeometry.

Definition at line 835 of file shape/geometric_shapes.h.

◆ computeCenter()

void hpp::fcl::ConvexBase::computeCenter ( )

private

Definition at line 91 of file src/shape/geometric_shapes.cpp.

◆ computeCOM()

Vec3f hpp::fcl::Cone::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 455 of file shape/geometric_shapes.h.

◆ computeLocalAABB() [1/10]

void hpp::fcl::TriangleP::computeLocalAABB ( )

virtual

virtual function of compute AABB in local coordinate

Implements hpp::fcl::CollisionGeometry.

Definition at line 176 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [2/10]

void hpp::fcl::Box::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 122 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [3/10]

void hpp::fcl::Sphere::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 128 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [4/10]

void hpp::fcl::Ellipsoid::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 134 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [5/10]

void hpp::fcl::Capsule::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 140 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [6/10]

void hpp::fcl::Cone::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 146 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [7/10]

void hpp::fcl::Cylinder::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 152 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [8/10]

void hpp::fcl::ConvexBase::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 158 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [9/10]

void hpp::fcl::Halfspace::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 164 of file src/shape/geometric_shapes.cpp.

◆ computeLocalAABB() [10/10]

void hpp::fcl::Plane::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

Definition at line 170 of file src/shape/geometric_shapes.cpp.

◆ computeMomentofInertia() [1/6]

Matrix3f hpp::fcl::Box::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 158 of file shape/geometric_shapes.h.

◆ computeMomentofInertia() [2/6]

Matrix3f hpp::fcl::Sphere::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 217 of file shape/geometric_shapes.h.

◆ computeMomentofInertia() [3/6]

Matrix3f hpp::fcl::Ellipsoid::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 283 of file shape/geometric_shapes.h.

◆ computeMomentofInertia() [4/6]

Matrix3f hpp::fcl::Capsule::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 365 of file shape/geometric_shapes.h.

◆ computeMomentofInertia() [5/6]

Matrix3f hpp::fcl::Cone::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 446 of file shape/geometric_shapes.h.

◆ computeMomentofInertia() [6/6]

Matrix3f hpp::fcl::Cylinder::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 541 of file shape/geometric_shapes.h.

◆ computeVolume() [1/6]

FCL_REAL hpp::fcl::Box::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 156 of file shape/geometric_shapes.h.

◆ computeVolume() [2/6]

FCL_REAL hpp::fcl::Sphere::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 222 of file shape/geometric_shapes.h.

◆ computeVolume() [3/6]

FCL_REAL hpp::fcl::Ellipsoid::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 293 of file shape/geometric_shapes.h.

◆ computeVolume() [4/6]

FCL_REAL hpp::fcl::Capsule::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 360 of file shape/geometric_shapes.h.

◆ computeVolume() [5/6]

FCL_REAL hpp::fcl::Cone::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 441 of file shape/geometric_shapes.h.

◆ computeVolume() [6/6]

FCL_REAL hpp::fcl::Cylinder::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 536 of file shape/geometric_shapes.h.

◆ Cone() [1/3]

hpp::fcl::Cone::Cone ( )

inline

Default constructor.

Definition at line 417 of file shape/geometric_shapes.h.

◆ Cone() [2/3]

hpp::fcl::Cone::Cone ( const Cone & other )

inline

Definition at line 423 of file shape/geometric_shapes.h.

◆ Cone() [3/3]

hpp::fcl::Cone::Cone	(	FCL_REAL	radius_,
		FCL_REAL	lz_
	)

inline

Definition at line 419 of file shape/geometric_shapes.h.

◆ ConvexBase() [1/2]

hpp::fcl::ConvexBase::ConvexBase ( )

inlineprotected

Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.

Definition at line 664 of file shape/geometric_shapes.h.

◆ ConvexBase() [2/2]

hpp::fcl::ConvexBase::ConvexBase ( const ConvexBase & other )

protected

Copy constructor Only the list of neighbors is copied.

Definition at line 58 of file src/shape/geometric_shapes.cpp.

◆ convexHull()

ConvexBase * hpp::fcl::ConvexBase::convexHull	(	const Vec3f *	points,
		unsigned int	num_points,
		bool	keepTriangles,
		const char *	qhullCommand = `NULL`
	)

static

Build a convex hull based on Qhull library and store the vertices and optionally the triangles.

Parameters

points,num_points	the points whose convex hull should be computed.
keepTriangles	if `true`, returns a Convex<Triangle> object which contains the triangle of the shape.
qhullCommand	the command sent to qhull. if `keepTriangles` is `true`, this parameter should include "Qt". If `NULL`, "Qt" is passed to Qhull. if `keepTriangles` is `false`, an empty string is passed to Qhull.

Note: hpp-fcl must have been compiled with option HPP_FCL_HAS_QHULL set to ON.

Definition at line 46 of file src/shape/convex.cpp.

◆ count()

unsigned char const& hpp::fcl::ConvexBase::Neighbors::count ( ) const

inline

Definition at line 630 of file shape/geometric_shapes.h.

◆ Cylinder() [1/3]

hpp::fcl::Cylinder::Cylinder ( )

inline

Default constructor.

Definition at line 504 of file shape/geometric_shapes.h.

◆ Cylinder() [2/3]

hpp::fcl::Cylinder::Cylinder ( const Cylinder & other )

inline

Definition at line 510 of file shape/geometric_shapes.h.

◆ Cylinder() [3/3]

hpp::fcl::Cylinder::Cylinder	(	FCL_REAL	radius_,
		FCL_REAL	lz_
	)

inline

Definition at line 506 of file shape/geometric_shapes.h.

◆ distance() [1/2]

FCL_REAL hpp::fcl::Halfspace::distance ( const Vec3f & p ) const

inline

Definition at line 759 of file shape/geometric_shapes.h.

◆ distance() [2/2]

FCL_REAL hpp::fcl::Plane::distance ( const Vec3f & p ) const

inline

Definition at line 839 of file shape/geometric_shapes.h.

◆ Ellipsoid() [1/4]

hpp::fcl::Ellipsoid::Ellipsoid ( )

inline

Default constructor.

Definition at line 261 of file shape/geometric_shapes.h.

◆ Ellipsoid() [2/4]

hpp::fcl::Ellipsoid::Ellipsoid ( const Ellipsoid & other )

inline

Definition at line 268 of file shape/geometric_shapes.h.

◆ Ellipsoid() [3/4]

hpp::fcl::Ellipsoid::Ellipsoid ( const Vec3f & radii )

inlineexplicit

Definition at line 266 of file shape/geometric_shapes.h.

◆ Ellipsoid() [4/4]

hpp::fcl::Ellipsoid::Ellipsoid	(	FCL_REAL	rx,
		FCL_REAL	ry,
		FCL_REAL	rz
	)

inline

Definition at line 263 of file shape/geometric_shapes.h.

◆ getNodeType() [1/10]

NODE_TYPE hpp::fcl::TriangleP::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 87 of file shape/geometric_shapes.h.

◆ getNodeType() [2/10]

NODE_TYPE hpp::fcl::Box::getNodeType ( ) const

inlinevirtual

Get node type: a box.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 154 of file shape/geometric_shapes.h.

◆ getNodeType() [3/10]

NODE_TYPE hpp::fcl::Sphere::getNodeType ( ) const

inlinevirtual

Get node type: a sphere.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 215 of file shape/geometric_shapes.h.

◆ getNodeType() [4/10]

NODE_TYPE hpp::fcl::Ellipsoid::getNodeType ( ) const

inlinevirtual

Get node type: an ellipsoid.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 281 of file shape/geometric_shapes.h.

◆ getNodeType() [5/10]

NODE_TYPE hpp::fcl::Capsule::getNodeType ( ) const

inlinevirtual

Get node type: a capsule.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 358 of file shape/geometric_shapes.h.

◆ getNodeType() [6/10]

NODE_TYPE hpp::fcl::Cone::getNodeType ( ) const

inlinevirtual

Get node type: a cone.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 439 of file shape/geometric_shapes.h.

◆ getNodeType() [7/10]

NODE_TYPE hpp::fcl::Cylinder::getNodeType ( ) const

inlinevirtual

Get node type: a cylinder.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 534 of file shape/geometric_shapes.h.

◆ getNodeType() [8/10]

NODE_TYPE hpp::fcl::ConvexBase::getNodeType ( ) const

inlinevirtual

Get node type: a conex polytope.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 620 of file shape/geometric_shapes.h.

◆ getNodeType() [9/10]

NODE_TYPE hpp::fcl::Halfspace::getNodeType ( ) const

inlinevirtual

Get node type: a half space.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 765 of file shape/geometric_shapes.h.

◆ getNodeType() [10/10]

NODE_TYPE hpp::fcl::Plane::getNodeType ( ) const

inlinevirtual

Get node type: a plane.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 845 of file shape/geometric_shapes.h.

◆ getObjectType()

OBJECT_TYPE hpp::fcl::ShapeBase::getObjectType ( ) const

inlinevirtual

Get object type: a geometric shape.

Reimplemented from hpp::fcl::CollisionGeometry.

Definition at line 63 of file shape/geometric_shapes.h.

◆ Halfspace() [1/4]

hpp::fcl::Halfspace::Halfspace ( )

inline

Definition at line 742 of file shape/geometric_shapes.h.

◆ Halfspace() [2/4]

hpp::fcl::Halfspace::Halfspace ( const Halfspace & other )

inline

Definition at line 744 of file shape/geometric_shapes.h.

◆ Halfspace() [3/4]

hpp::fcl::Halfspace::Halfspace	(	const Vec3f &	n_,
		FCL_REAL	d_
	)

inline

Construct a half space with normal direction and offset.

Definition at line 732 of file shape/geometric_shapes.h.

◆ Halfspace() [4/4]

hpp::fcl::Halfspace::Halfspace	(	FCL_REAL	a,
		FCL_REAL	b,
		FCL_REAL	c,
		FCL_REAL	d_
	)

inline

Construct a plane with normal direction and offset.

Definition at line 737 of file shape/geometric_shapes.h.

◆ inflated() [1/7]

std::pair<Box, Transform3f> hpp::fcl::Box::inflated ( const FCL_REAL value ) const

inline

Inflate the box by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated box and the related transform to account for the change of shape frame

Definition at line 172 of file shape/geometric_shapes.h.

◆ inflated() [2/7]

std::pair<Sphere, Transform3f> hpp::fcl::Sphere::inflated ( const FCL_REAL value ) const

inline

Inflate the sphere by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated sphere and the related transform to account for the change of shape frame

Definition at line 235 of file shape/geometric_shapes.h.

◆ inflated() [3/7]

std::pair<Ellipsoid, Transform3f> hpp::fcl::Ellipsoid::inflated ( const FCL_REAL value ) const

inline

Inflate the ellipsoid by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated ellipsoid and the related transform to account for the change of shape frame

Definition at line 306 of file shape/geometric_shapes.h.

◆ inflated() [4/7]

std::pair<Capsule, Transform3f> hpp::fcl::Capsule::inflated ( const FCL_REAL value ) const

inline

Inflate the capsule by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated capsule and the related transform to account for the change of shape frame

Definition at line 388 of file shape/geometric_shapes.h.

◆ inflated() [5/7]

std::pair<Cone, Transform3f> hpp::fcl::Cone::inflated ( const FCL_REAL value ) const

inline

Inflate the cone by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated cone and the related transform to account for the change of shape frame

Definition at line 465 of file shape/geometric_shapes.h.

◆ inflated() [6/7]

std::pair<Cylinder, Transform3f> hpp::fcl::Cylinder::inflated ( const FCL_REAL value ) const

inline

Inflate the cylinder by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated cylinder and the related transform to account for the change of shape frame

Definition at line 556 of file shape/geometric_shapes.h.

◆ inflated() [7/7]

std::pair<Halfspace, Transform3f> hpp::fcl::Halfspace::inflated ( const FCL_REAL value ) const

inline

Inflate the cylinder by an amount given by value.

Parameters

[in] value of the shape inflation.

Returns: a new inflated cylinder and the related transform to account for the change of shape frame

Definition at line 777 of file shape/geometric_shapes.h.

◆ initialize()

void hpp::fcl::ConvexBase::initialize	(	bool	ownStorage,
		Vec3f *	points_,
		unsigned int	num_points_
	)

protected

Initialize the points of the convex shape This also initializes the ConvexBase::center.

Parameters

ownStorage	weither the ConvexBase owns the data.
points_	list of 3D points ///
num_points_	number of 3D points

Definition at line 44 of file src/shape/geometric_shapes.cpp.