cone.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef FCL_SHAPE_CONE_H
#define FCL_SHAPE_CONE_H
 
#include <ostream>
#include <string>
 
#include "fcl/geometry/shape/shape_base.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT Cone : public ShapeBase<S_>
{
public:
 
  using S = S_;
 
  Cone(S radius, S lz);
 
  S radius;
 
  S lz;
 
  void computeLocalAABB() override;
 
  NODE_TYPE getNodeType() const override;
 
  // Documentation inherited
  S computeVolume() const override;
 
  // Documentation inherited
  Matrix3<S> computeMomentofInertia() const override;
 
  // Documentation inherited
  Vector3<S> computeCOM() const override;
 
  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
 
  std::string representation(int precision = 20) const;
 
  friend
  std::ostream& operator<<(std::ostream& out, const Cone& cone) {
    out << "Cone(r: " << cone.radius << ", lz: " << cone.lz << ")";
    return out;
  }
};
 
using Conef = Cone<float>;
using Coned = Cone<double>;
 
} // namespace fcl
 
#include "fcl/geometry/shape/cone-inl.h"
 
#endif