cone.h
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35 
38 #ifndef FCL_SHAPE_CONE_H
39 #define FCL_SHAPE_CONE_H
40 
41 #include <iostream>
42 
44 
45 namespace fcl
46 {
47 
49 template <typename S_>
50 class FCL_EXPORT Cone : public ShapeBase<S_>
51 {
52 public:
53 
54  using S = S_;
55 
56  Cone(S radius, S lz);
57 
60 
62  S lz;
63 
65  void computeLocalAABB() override;
66 
68  NODE_TYPE getNodeType() const override;
69 
70  // Documentation inherited
71  S computeVolume() const override;
72 
73  // Documentation inherited
74  Matrix3<S> computeMomentofInertia() const override;
75 
76  // Documentation inherited
77  Vector3<S> computeCOM() const override;
78 
81  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
82 
83  friend
84  std::ostream& operator<<(std::ostream& out, const Cone& cone) {
85  out << "Cone(r: " << cone.radius << ", lz: " << cone.lz << ")";
86  return out;
87  }
88 };
89 
92 
93 } // namespace fcl
94 
96 
97 #endif
cone-inl.h
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
shape_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Cone::S
S_ S
Definition: cone.h:54
fcl::Cone::lz
S lz
Length along z axis.
Definition: cone.h:62
fcl::Cone::radius
S radius
Radius of the cone.
Definition: cone.h:59
fcl::Cone
Center at zero cone.
Definition: cone.h:50
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::Cone::operator<<
friend std::ostream & operator<<(std::ostream &out, const Cone &cone)
Definition: cone.h:84
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:41