Program Listing for File geometric_shapes_traits.h
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#ifndef HPP_FCL_GEOMETRIC_SHAPES_TRAITS_H
#define HPP_FCL_GEOMETRIC_SHAPES_TRAITS_H
#include <hpp/fcl/shape/geometric_shapes.h>
namespace hpp {
namespace fcl {
struct shape_traits_base {
enum {
NeedNormalizedDir = true,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = false,
HasInflatedSupportFunction = false
};
};
template <typename Shape>
struct shape_traits : shape_traits_base {};
template <>
struct shape_traits<TriangleP> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = false,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Box> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Sphere> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Ellipsoid> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Capsule> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Cone> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<Cylinder> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
template <>
struct shape_traits<ConvexBase> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = true,
IsInflatable = false,
HasInflatedSupportFunction = true
};
};
template <>
struct shape_traits<Halfspace> : shape_traits_base {
enum {
NeedNormalizedDir = false,
NeedNesterovNormalizeHeuristic = false,
IsInflatable = true,
HasInflatedSupportFunction = false
};
};
} // namespace fcl
} // namespace hpp
#endif // ifndef HPP_FCL_GEOMETRIC_SHAPES_TRAITS_H