Class Ellipsoid

Inheritance Relationships

Base Type

Class Documentation

class Ellipsoid : public hpp::fcl::ShapeBase

Ellipsoid centered at point zero.

Public Functions

inline Ellipsoid()

Default constructor.

inline Ellipsoid(FCL_REAL rx, FCL_REAL ry, FCL_REAL rz)
inline explicit Ellipsoid(const Vec3f &radii)
inline Ellipsoid(const Ellipsoid &other)
inline virtual Ellipsoid *clone() const

Clone *this into a new Ellipsoid.

virtual void computeLocalAABB()

Compute AABB.

inline virtual NODE_TYPE getNodeType() const

Get node type: an ellipsoid.

inline virtual Matrix3f computeMomentofInertia() const

compute the inertia matrix, related to the origin

inline virtual FCL_REAL computeVolume() const

compute the volume

inline FCL_REAL minInflationValue() const
inline std::pair<Ellipsoid, Transform3f> inflated(const FCL_REAL value) const

Inflate the ellipsoid by an amount given by value.

Parameters:

value – [in] of the shape inflation.

Returns:

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

Public Members

Vec3f radii

Radii of the Ellipsoid (such that on boundary: x^2/rx^2 + y^2/ry^2.

  • z^2/rz^2 = 1)