geometry/shape/plane.h
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35 
38 #ifndef FCL_SHAPE_PLANE_H
39 #define FCL_SHAPE_PLANE_H
40 
41 #include <iostream>
42 
44 
45 namespace fcl
46 {
47 
49 template <typename S_>
50 class FCL_EXPORT Plane : public ShapeBase<S_>
51 {
52 public:
53 
54  using S = S_;
55 
57  Plane(const Vector3<S>& n, S d);
58 
60  Plane(S a, S b, S c, S d);
61 
62  Plane();
63 
64  S signedDistance(const Vector3<S>& p) const;
65 
66  S distance(const Vector3<S>& p) const;
67 
69  void computeLocalAABB() override;
70 
72  NODE_TYPE getNodeType() const override;
73 
76 
78  S d;
79 
80  friend
81  std::ostream& operator<<(std::ostream& out, const Plane& plane) {
82  out << "Plane(n: " << plane.n.transpose() << ", d: " << plane.d << ")";
83  return out;
84  }
85 
86 protected:
87 
89  void unitNormalTest();
90 };
91 
94 
95 template <typename S>
96 FCL_EXPORT
97 Plane<S> transform(const Plane<S>& a, const Transform3<S>& tf);
98 
99 } // namespace fcl
100 
102 
103 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
plane-inl.h
fcl::transform
template Halfspace< double > transform(const Halfspace< double > &a, const Transform3< double > &tf)
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::Plane::n
Vector3< S > n
Plane normal.
Definition: geometry/shape/plane.h:75
fcl::Plane::operator<<
friend std::ostream & operator<<(std::ostream &out, const Plane &plane)
Definition: geometry/shape/plane.h:81
fcl::Plane::d
S d
Plane offset.
Definition: geometry/shape/plane.h:78
fcl::Plane::S
S_ S
Definition: geometry/shape/plane.h:54
fcl::Plane
Infinite plane.
Definition: geometry/shape/plane.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
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Sat Sep 11 2021 02:37:42