Class CapsuleGeometry

Inheritance Relationships

Base Type

Class Documentation

class CapsuleGeometry : public pfield::ObstacleGeometry

Geometry for a capsule obstacle.

A capsule is a cylinder of radius radius and shaft length height capped at each end by a hemisphere of the same radius. The capsule axis is aligned with the local Z axis; total length = height + 2 * radius.

Supports PCA-fitted capsules via axes (OBB orientation, column 2 is the capsule Z axis) and centroidOffset (offset to OBB center).

SDF: distance from point to the nearest point on the capsule axis segment, minus the radius.

Public Functions

CapsuleGeometry(double radius, double height)

Constructs a CapsuleGeometry.

Parameters:

  • radius – Radius of the cylinder shaft and hemispherical end caps.

  • height – Length of the cylindrical shaft (not including end caps).

CapsuleGeometry(double radius, double height, const Eigen::Matrix3d &axes, const Eigen::Vector3d &centroidOffset)

Constructs an OBB-fitted CapsuleGeometry.

Parameters:

  • radius – Radius of the shaft and end caps.

  • height – Shaft length (not including end caps).

  • axes – OBB rotation; column 2 is the capsule Z axis.

  • centroidOffset – Offset from the collision-origin to the OBB center, expressed in the obstacle’s local frame.

virtual ObstacleType getType() const override

Returns the ObstacleType discriminator for this geometry.

virtual std::vector<double> asVector() const override

Returns a vector of the geometry’s defining parameters.

The vector layout is type-specific: Sphere → {radius} Box → {length, width, height} Cylinder → {radius, height} Ellipsoid → {semi_x, semi_y, semi_z} Capsule → {radius, height} Mesh → {length, width, height} (bounding-box dims or zeros)

virtual Eigen::Vector3d halfDimensions(const Eigen::Vector3d &meshScale) const override

Returns the half-dimensions of the obstacle’s axis-aligned bounding box.

Used for broad-phase influence-zone checks.

Parameters:

meshScale – Scale of the mesh resource (used only by MeshGeometry; ignored by all other types).

virtual void computeSignedDistanceAndNormal(const Eigen::Vector3d &localPoint, const Eigen::Quaterniond &obstacleOrientation, double &signedDistance, Eigen::Vector3d &normal) const override

Computes the signed distance and outward surface normal from a point expressed in the obstacle’s local frame.

The caller is responsible for transforming the world-frame query point into the obstacle’s local frame before calling this method.

Parameters:

  • localPoint – [in] Query point in the obstacle’s local frame.

  • obstacleOrientation – [in] World-frame orientation of the obstacle (quaternion), used to rotate the computed normal back to world coordinates.

  • signedDistance – [out] Signed distance to the obstacle surface (negative if inside, positive if outside).

  • normal – [out] Outward unit normal in world coordinates at the closest surface point.

virtual std::shared_ptr<coal::CollisionGeometry> buildCoalGeometry(const Eigen::Vector3d &obstaclePosition, const Eigen::Quaterniond &obstacleOrientation, coal::Transform3s &coalTransform) const override

Builds the Coal collision geometry for this obstacle.

The returned shared_ptr is used to construct a coal::CollisionObject. The caller is responsible for supplying the correct world-frame transform.

Parameters:

  • obstaclePosition – World-frame position of the obstacle origin.

  • obstacleOrientation – World-frame orientation of the obstacle.

  • coalTransform – [out] The Coal transform that should be passed to coal::CollisionObject together with the returned geometry. For most types this equals the obstacle pose, but OBB-fitted shapes (Box, Capsule) may shift and rotate it to the OBB center.

Returns:

Shared pointer to the Coal collision geometry.

virtual coal::Transform3s computeUpdatedCoalTransform(const Eigen::Vector3d &obstaclePosition, const Eigen::Quaterniond &obstacleOrientation) const override

Computes the world-frame Coal transform to use when updating a cached collision object’s pose.

For most types this simply encodes (obstaclePosition, obstacleOrientation). OBB-fitted types (Box, Capsule) adjust for the centroid offset and PCA rotation baked into the Coal object at construction time.

Parameters:

  • obstaclePosition – New world-frame position of the obstacle.

  • obstacleOrientation – New world-frame orientation of the obstacle.

Returns:

The Coal transform to apply to the cached collision object.

virtual bool operator==(const ObstacleGeometry &other) const override

Equality comparison — only types with the same concrete class and parameters are equal.

virtual std::unique_ptr<ObstacleGeometry> clone() const override

Deep-copy factory, so PotentialFieldObstacle can clone its geometry.

Public Members

double radius

Shaft and end-cap radius.

double height

Shaft length (excluding end caps).

Eigen::Matrix3d axes

OBB rotation (identity by default).

Eigen::Vector3d centroidOffset

OBB center offset (zero by default).

std::string sourceMeshResource

Mesh URI from which this capsule was fitted (empty if not mesh-derived).

Eigen::Vector3d sourceMeshScale = Eigen::Vector3d::Ones()

Mesh scale corresponding to sourceMeshResource.