sphere.h
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35 
38 #ifndef FCL_SHAPE_SPHERE_H
39 #define FCL_SHAPE_SPHERE_H
40 
42 
43 #include <iostream>
44 
45 namespace fcl
46 {
47 
49 template <typename S_>
50 class FCL_EXPORT Sphere : public ShapeBase<S_>
51 {
52 public:
53 
54  using S = S_;
55 
56  Sphere(S radius);
57 
60 
62  void computeLocalAABB() override;
63 
65  NODE_TYPE getNodeType() const override;
66 
67  Matrix3<S> computeMomentofInertia() const override;
68 
69  S computeVolume() const override;
70 
73  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
74 
75  friend
76  std::ostream& operator<<(std::ostream& out, const Sphere& sphere) {
77  out << "Sphere(" << sphere.radius << ")";
78  return out;
79  }
80 };
81 
84 
85 } // namespace fcl
86 
88 
89 #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:76
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:59
sphere-inl.h
fcl::Sphere
Center at zero point sphere.
Definition: sphere.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