sphere.h
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35 
38 #ifndef FCL_SHAPE_SPHERE_H
39 #define FCL_SHAPE_SPHERE_H
40 
42 
43 #include <ostream>
44 #include <string>
45 
46 namespace fcl
47 {
48 
50 template <typename S_>
51 class FCL_EXPORT Sphere : public ShapeBase<S_>
52 {
53 public:
54 
55  using S = S_;
56 
57  Sphere(S radius);
58 
61 
63  void computeLocalAABB() override;
64 
66  NODE_TYPE getNodeType() const override;
67 
68  Matrix3<S> computeMomentofInertia() const override;
69 
70  S computeVolume() const override;
71 
74  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
75 
81  std::string representation(int precision = 20) const;
82 
83  friend
84  std::ostream& operator<<(std::ostream& out, const Sphere& sphere) {
85  out << "Sphere(" << sphere.radius << ")";
86  return out;
87  }
88 };
89 
92 
93 } // namespace fcl
94 
96 
97 #endif
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::Sphere::operator<<
friend std::ostream & operator<<(std::ostream &out, const Sphere &sphere)
Definition: sphere.h:84
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::ShapeBase::S
S_ S
Definition: shape_base.h:52
fcl::Sphere::radius
S radius
Radius of the sphere.
Definition: sphere.h:60
sphere-inl.h
fcl::Sphere
Center at zero point sphere.
Definition: sphere.h:51
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 Tue Dec 5 2023 03:40:48