Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | List of all members
hpp::fcl::ConvexBase Class Reference

Base for convex polytope. More...

#include <geometric_shapes.h>

Inheritance diagram for hpp::fcl::ConvexBase:
Inheritance graph
[legend]

Classes

struct  Neighbors
 

Public Member Functions

virtual ConvexBaseclone () const
  . More...
 
void computeLocalAABB ()
 Compute AABB. More...
 
NODE_TYPE getNodeType () const
 Get node type: a conex polytope. More...
 
virtual ~ConvexBase ()
 
- Public Member Functions inherited from hpp::fcl::ShapeBase
OBJECT_TYPE getObjectType () const
 Get object type: a geometric shape. More...
 
ShapeBaseoperator= (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 computeMomentofInertia () const
 compute the inertia matrix, related to the origin More...
 
virtual Matrix3f computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 
virtual FCL_REAL computeVolume () const
 compute the volume 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 ()
 

Static Public Member Functions

static ConvexBaseconvexHull (const Vec3f *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL)
 Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More...
 

Public Attributes

Vec3f center
 center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) More...
 
Neighborsneighbors
 
unsigned int num_points
 
Vec3fpoints
 An array of the points of the polygon. 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...
 

Protected Member Functions

 ConvexBase ()
 Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More...
 
 ConvexBase (const ConvexBase &other)
 Copy constructor Only the list of neighbors is copied. More...
 
void initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_)
 Initialize the points of the convex shape This also initializes the ConvexBase::center. More...
 
void set (bool ownStorage, Vec3f *points_, unsigned int num_points_)
 Set the points of the convex shape. More...
 

Protected Attributes

unsigned int * nneighbors_
 
bool own_storage_
 

Private Member Functions

void computeCenter ()
 
virtual bool isEqual (const CollisionGeometry &_other) const
 equal operator with another object of derived type. More...
 

Detailed Description

Base for convex polytope.

Note
Inherited classes are responsible for filling ConvexBase::neighbors;

Definition at line 581 of file shape/geometric_shapes.h.


The documentation for this class was generated from the following files:


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03