shape/convex.h
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35 
38 #ifndef HPP_FCL_SHAPE_CONVEX_H
39 #define HPP_FCL_SHAPE_CONVEX_H
40 
42 
43 namespace hpp {
44 namespace fcl {
45 
49 template <typename PolygonT>
50 class Convex : public ConvexBase {
51  public:
53  Convex() : ConvexBase(), polygons(NULL), num_polygons(0) {}
54 
64  Convex(bool ownStorage, Vec3f* points_, unsigned int num_points_,
65  PolygonT* polygons_, unsigned int num_polygons_);
66 
69  Convex(const Convex& other);
70 
71  ~Convex();
72 
76  PolygonT* polygons;
77  unsigned int num_polygons;
78 
81 
82  Vec3f computeCOM() const;
83 
84  FCL_REAL computeVolume() const;
85 
97  void set(bool ownStorage, Vec3f* points, unsigned int num_points,
98  PolygonT* polygons, unsigned int num_polygons);
99 
101  virtual Convex<PolygonT>* clone() const;
102 
103  protected:
104  void fillNeighbors();
105 };
106 
107 } // namespace fcl
108 
109 } // namespace hpp
110 
111 #include <hpp/fcl/shape/details/convex.hxx>
112 
113 #endif
FCL_REAL computeVolume() const
compute the volume
virtual Convex< PolygonT > * clone() const
 .
Main namespace.
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Vec3f computeCOM() const
compute center of mass
unsigned int num_polygons
Definition: shape/convex.h:77
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon...
Definition: shape/convex.h:76
double FCL_REAL
Definition: data_types.h:65
Convex()
Construct an uninitialized convex object.
Definition: shape/convex.h:53
Base for convex polytope.
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
Convex polytope.
Definition: shape/convex.h:50
Vec3f * points
An array of the points of the polygon.


hpp-fcl
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autogenerated on Fri Jun 2 2023 02:39:00