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

Half Space: this is equivalent to the Plane 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 <geometric_shapes.h>

Inheritance diagram for hpp::fcl::Halfspace:
Inheritance graph
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Public Member Functions

virtual Halfspaceclone () const
 Clone *this into a new Halfspace. More...
 
void computeLocalAABB ()
 Compute AABB. More...
 
FCL_REAL distance (const Vec3f &p) const
 
NODE_TYPE getNodeType () const
 Get node type: a half space. More...
 
 Halfspace (const Vec3f &n_, FCL_REAL d_)
 Construct a half space with normal direction and offset. More...
 
 Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_)
 Construct a plane with normal direction and offset. More...
 
 Halfspace ()
 
 Halfspace (const Halfspace &other)
 
std::pair< Halfspace, Transform3finflated (const FCL_REAL value) const
 Inflate the cylinder by an amount given by value. More...
 
FCL_REAL minInflationValue () const
 
Halfspaceoperator= (const Halfspace &other)
 operator = More...
 
FCL_REAL signedDistance (const Vec3f &p) const
 
- 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 ()
 

Public Attributes

FCL_REAL d
 Plane offset. More...
 
Vec3f n
 Plane normal. 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

void unitNormalTest ()
 Turn non-unit normal into unit. More...
 

Private Member Functions

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

Detailed Description

Half Space: this is equivalent to the Plane 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 729 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