Capsule It is 
where 
is the distance between the point x and the capsule segment AB, with 
.
More...
#include <geometric_shapes.h>
Inheritance diagram for hpp::fcl::Capsule:
Public Member Functions | |
| Capsule () | |
| Default constructor. More... | |
| Capsule (const Capsule &other) | |
| Capsule (FCL_REAL radius_, FCL_REAL lz_) | |
| virtual Capsule * | clone () const |
| Clone *this into a new Capsule. More... | |
| void | computeLocalAABB () |
| Compute AABB. More... | |
| Matrix3f | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| FCL_REAL | computeVolume () const |
| compute the volume More... | |
| NODE_TYPE | getNodeType () const |
| Get node type: a capsule. More... | |
| std::pair< Capsule, Transform3f > | inflated (const FCL_REAL value) const |
| Inflate the capsule by an amount given by value. More... | |
| FCL_REAL | minInflationValue () const |
 Public Member Functions inherited from hpp::fcl::ShapeBase | |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| ShapeBase & | operator= (const ShapeBase &other)=default |
| ShapeBase () | |
| ShapeBase (const ShapeBase &other) | |
| More... | |
| virtual | ~ShapeBase () |
| Public Member Functions inherited from hpp::fcl::CollisionGeometry | |
| CollisionGeometry () | |
| CollisionGeometry (const CollisionGeometry &other)=default | |
| Copy constructor. More... | |
| virtual Vec3f | computeCOM () const |
| compute center of mass More... | |
| virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com 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... | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More... | |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
Public Attributes | |
| FCL_REAL | halfLength |
| Half Length along z axis. More... | |
| FCL_REAL | radius |
| Radius of capsule. More... | |
| Public Attributes inherited from hpp::fcl::CollisionGeometry | |
| Vec3f | aabb_center |
| AABB center in local coordinate. More... | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| FCL_REAL | aabb_radius |
| AABB radius. More... | |
| FCL_REAL | cost_density |
| collision cost for unit volume More... | |
| FCL_REAL | threshold_free |
| threshold for free (<= is free) More... | |
| FCL_REAL | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Private Member Functions | |
| virtual bool | isEqual (const CollisionGeometry &_other) const |
| equal operator with another object of derived type. More... | |
Detailed Description
Capsule It is where is the distance between the point x and the capsule segment AB, with .
Definition at line 333 of file shape/geometric_shapes.h.
The documentation for this class was generated from the following files: