Half Space: this is equivalent to the Planed 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...
#include <halfspace.h>
Public Types | |
| using | S = S_ |
 Public Types inherited from fcl::ShapeBase< S_ > | |
| using | S = S_ |
Public Member Functions | |
| void | computeLocalAABB () override |
| Compute AABB. More... | |
| S | distance (const Vector3< S > &p) const |
| NODE_TYPE | getNodeType () const override |
| Get node type: a half space. More... | |
| Halfspace () | |
| Halfspace (const Vector3< S > &n, S d) | |
| Construct a half space with normal direction and offset. More... | |
| Halfspace (S a, S b, S c, S d_) | |
| Construct a plane with normal direction and offset. More... | |
| std::string | representation (int precision=20) const |
| Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python. More... | |
| S | signedDistance (const Vector3< S > &p) const |
| Public Member Functions inherited from fcl::ShapeBase< S_ > | |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| ShapeBase () | |
| Public Member Functions inherited from fcl::CollisionGeometry< S_ > | |
| CollisionGeometry () | |
| virtual Vector3< S_ > | computeCOM () const |
| compute center of mass More... | |
| virtual Matrix3< S_ > | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| virtual Matrix3< S_ > | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| virtual S_ | computeVolume () const |
| compute the volume More... | |
| virtual NODE_TYPE | getNodeType () const |
| get the node type More... | |
| virtual OBJECT_TYPE | getObjectType () const |
| get the type of the object 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... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
Public Attributes | |
| S | d |
| Planed offset. More... | |
| Vector3< S > | n |
| Planed normal. More... | |
| Public Attributes inherited from fcl::CollisionGeometry< S_ > | |
| Vector3< S_ > | aabb_center |
| AABB center in local coordinate. More... | |
| AABB< S_ > | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| S_ | aabb_radius |
| AABB radius. More... | |
| S_ | cost_density |
| collision cost for unit volume More... | |
| S_ | threshold_free |
| threshold for free (<= is free) More... | |
| S_ | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Protected Member Functions | |
| void | unitNormalTest () |
| Turn non-unit normal into unit. More... | |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const Halfspace &halfspace) |
Detailed Description
template<typename S_>
class fcl::Halfspace< S_ >
Half Space: this is equivalent to the Planed 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.
Definition at line 60 of file geometry/shape/halfspace.h.
Member Typedef Documentation
◆ S
| using fcl::Halfspace< S_ >::S = S_ |
Definition at line 64 of file geometry/shape/halfspace.h.
Constructor & Destructor Documentation
◆ Halfspace() [1/3]
Construct a half space with normal direction and offset.
Definition at line 60 of file geometry/shape/halfspace-inl.h.
◆ Halfspace() [2/3]
Construct a plane with normal direction and offset.
Definition at line 68 of file geometry/shape/halfspace-inl.h.
◆ Halfspace() [3/3]
| fcl::Halfspace< S >::Halfspace |
Definition at line 76 of file geometry/shape/halfspace-inl.h.
Member Function Documentation
◆ computeLocalAABB()
|
overridevirtual |
Compute AABB.
Implements fcl::CollisionGeometry< S_ >.
Definition at line 97 of file geometry/shape/halfspace-inl.h.
◆ distance()
| S fcl::Halfspace< S >::distance | ( | const Vector3< S > & | p | ) | const |
Definition at line 90 of file geometry/shape/halfspace-inl.h.
◆ getNodeType()
|
override |
Get node type: a half space.
Definition at line 132 of file geometry/shape/halfspace-inl.h.
◆ representation()
| std::string fcl::Halfspace< S >::representation | ( | int | precision = 20 | ) | const |
Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python.
- Parameters
-
precision The requested digits of precision for the numerical measures (same semantics as std::setprecision()).
- Returns
- The string representation of this instance.
Definition at line 139 of file geometry/shape/halfspace-inl.h.
◆ signedDistance()
| S fcl::Halfspace< S >::signedDistance | ( | const Vector3< S > & | p | ) | const |
Definition at line 83 of file geometry/shape/halfspace-inl.h.
◆ unitNormalTest()
|
protected |
Turn non-unit normal into unit.
Definition at line 150 of file geometry/shape/halfspace-inl.h.
Friends And Related Function Documentation
◆ operator<<
|
friend |
Definition at line 98 of file geometry/shape/halfspace.h.
Member Data Documentation
◆ d
| S fcl::Halfspace< S_ >::d |
Planed offset.
Definition at line 88 of file geometry/shape/halfspace.h.
◆ n
| Vector3<S> fcl::Halfspace< S_ >::n |
Planed normal.
Definition at line 85 of file geometry/shape/halfspace.h.
The documentation for this class was generated from the following files: