Center at zero point capsule. More...
#include <capsule.h>
Inheritance diagram for fcl::Capsule< S_ >:
Public Types | |
| using | S = S_ |
 Public Types inherited from fcl::ShapeBase< S_ > | |
| using | S = S_ |
Public Member Functions | |
| Capsule (S radius, S lz) | |
| Constructor. More... | |
| void | computeLocalAABB () override |
| Compute AABB | |
| Matrix3< S > | computeMomentofInertia () const override |
| S | computeVolume () const override |
| std::vector< Vector3< S > > | getBoundVertices (const Transform3< S > &tf) const |
| get the vertices of some convex shape which can bound this shape in a specific configuration More... | |
| NODE_TYPE | getNodeType () const override |
| Get node type: a capsule. More... | |
| std::string | representation (int precision=20) const |
| Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python. More... | |
| Public Member Functions inherited from fcl::ShapeBase< S_ > | |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More... | |
| ShapeBase () | |
| Public Member Functions inherited from fcl::CollisionGeometry< S_ > | |
| CollisionGeometry () | |
| virtual Vector3< S_ > | computeCOM () const |
| compute center of mass More... | |
| virtual Matrix3< S_ > | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| virtual Matrix3< S_ > | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| virtual S_ | computeVolume () const |
| compute the volume More... | |
| virtual NODE_TYPE | getNodeType () const |
| get the node type More... | |
| virtual OBJECT_TYPE | getObjectType () const |
| get the type of the object 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... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
Public Attributes | |
| S | lz |
| Length along z axis. More... | |
| S | radius |
| Radius of capsule. More... | |
| Public Attributes inherited from fcl::CollisionGeometry< S_ > | |
| Vector3< S_ > | aabb_center |
| AABB center in local coordinate. More... | |
| AABB< S_ > | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| S_ | aabb_radius |
| AABB radius. More... | |
| S_ | cost_density |
| collision cost for unit volume More... | |
| S_ | threshold_free |
| threshold for free (<= is free) More... | |
| S_ | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const Capsule &capsule) |
Detailed Description
template<typename S_>
class fcl::Capsule< S_ >
Center at zero point capsule.
Member Typedef Documentation
◆ S
template<typename S_ >
| using fcl::Capsule< S_ >::S = S_ |
Constructor & Destructor Documentation
◆ Capsule()
template<typename S >
| fcl::Capsule< S >::Capsule | ( | S | radius, |
| S | lz | ||
| ) |
Constructor.
Definition at line 56 of file capsule-inl.h.
Member Function Documentation
◆ computeLocalAABB()
template<typename S >
|
overridevirtual |
◆ computeMomentofInertia()
template<typename S >
|
override |
Definition at line 91 of file capsule-inl.h.
◆ computeVolume()
template<typename S >
|
override |
Definition at line 83 of file capsule-inl.h.
◆ getBoundVertices()
template<typename S >
| std::vector< Vector3< S > > fcl::Capsule< S >::getBoundVertices | ( | const Transform3< S > & | tf | ) | const |
get the vertices of some convex shape which can bound this shape in a specific configuration
Definition at line 107 of file capsule-inl.h.
◆ getNodeType()
template<typename S >
|
override |
Get node type: a capsule.
Definition at line 76 of file capsule-inl.h.
◆ representation()
template<typename S >
| std::string fcl::Capsule< S >::representation | ( | int | precision = 20 | ) | const |
Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python.
- Parameters
-
precision The requested digits of precision for the numerical measures (same semantics as std::setprecision()).
- Returns
- The string representation of this instance.
Definition at line 166 of file capsule-inl.h.
Friends And Related Function Documentation
◆ operator<<
template<typename S_ >
|
friend |
Member Data Documentation
◆ lz
template<typename S_ >
| S fcl::Capsule< S_ >::lz |
◆ radius
template<typename S_ >
| S fcl::Capsule< S_ >::radius |
The documentation for this class was generated from the following files: