Base for convex polytope. More...
#include <geometric_shapes.h>
Classes | |
struct | Neighbors |
Public Member Functions | |
virtual ConvexBase * | clone () 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... | |
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 | 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 ConvexBase * | convexHull (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... | |
Neighbors * | neighbors |
unsigned int | num_points |
Vec3f * | points |
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... | |
Base for convex polytope.
Definition at line 581 of file shape/geometric_shapes.h.