capsule.h
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35 
38 #ifndef FCL_SHAPE_CAPSULE_H
39 #define FCL_SHAPE_CAPSULE_H
40 
41 #include <ostream>
42 #include <string>
43 
45 
46 namespace fcl
47 {
48 
50 template <typename S_>
51 class FCL_EXPORT Capsule : public ShapeBase<S_>
52 {
53 public:
54 
55  using S = S_;
56 
58  Capsule(S radius, S lz);
59 
62 
64  S lz;
65 
67  void computeLocalAABB() override;
68 
70  NODE_TYPE getNodeType() const override;
71 
72  // Documentation inherited
73  S computeVolume() const override;
74 
75  // Documentation inherited
76  Matrix3<S> computeMomentofInertia() const override;
77 
80  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
81 
87  std::string representation(int precision = 20) const;
88 
89  friend
90  std::ostream& operator<<(std::ostream& out, const Capsule& capsule) {
91  out << "Capsule(r: " << capsule.radius << ", lz: " << capsule.lz << ")";
92  return out;
93  }
94 };
95 
98 
99 } // namespace fcl
100 
102 
103 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Capsule::radius
S radius
Radius of capsule.
Definition: capsule.h:61
fcl::Capsule::lz
S lz
Length along z axis.
Definition: capsule.h:64
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
fcl::Capsule< S >::S
S S
Definition: capsule.h:55
shape_base.h
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
capsule-inl.h
fcl::Capsule::operator<<
friend std::ostream & operator<<(std::ostream &out, const Capsule &capsule)
Definition: capsule.h:90
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::Capsule
Center at zero point capsule.
Definition: capsule.h:51


fcl
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autogenerated on Tue Dec 5 2023 03:40:48