Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. More...
#include <geometric_shapes.h>
Public Member Functions | |
virtual Halfspace * | clone () const |
Clone *this into a new Halfspace. More... | |
void | computeLocalAABB () |
Compute AABB. More... | |
FCL_REAL | distance (const Vec3f &p) const |
NODE_TYPE | getNodeType () const |
Get node type: a half space. More... | |
Halfspace () | |
Halfspace (const Halfspace &other) | |
Halfspace (const Vec3f &n_, FCL_REAL d_) | |
Construct a half space with normal direction and offset. More... | |
Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_) | |
Construct a plane with normal direction and offset. More... | |
std::pair< Halfspace, Transform3f > | inflated (const FCL_REAL value) const |
Inflate the cylinder by an amount given by value. More... | |
FCL_REAL | minInflationValue () const |
Halfspace & | operator= (const Halfspace &other) |
operator = More... | |
FCL_REAL | signedDistance (const Vec3f &p) const |
Public Member Functions inherited from hpp::fcl::ShapeBase | |
OBJECT_TYPE | getObjectType () const |
Get object type: a geometric shape. More... | |
ShapeBase & | operator= (const ShapeBase &other)=default |
ShapeBase () | |
ShapeBase (const ShapeBase &other) | |
More... | |
virtual | ~ShapeBase () |
Public Member Functions inherited from hpp::fcl::CollisionGeometry | |
CollisionGeometry () | |
CollisionGeometry (const CollisionGeometry &other)=default | |
Copy constructor. More... | |
virtual Vec3f | computeCOM () const |
compute center of mass More... | |
virtual Matrix3f | computeMomentofInertia () const |
compute the inertia matrix, related to the origin More... | |
virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com More... | |
virtual FCL_REAL | computeVolume () const |
compute the volume More... | |
void * | getUserData () const |
get user data in geometry More... | |
bool | isFree () const |
whether the object is completely free More... | |
bool | isOccupied () const |
whether the object is completely occupied More... | |
bool | isUncertain () const |
whether the object has some uncertainty More... | |
bool | operator!= (const CollisionGeometry &other) const |
Difference operator. More... | |
bool | operator== (const CollisionGeometry &other) const |
Equality operator. More... | |
void | setUserData (void *data) |
set user data in geometry More... | |
virtual | ~CollisionGeometry () |
Public Attributes | |
FCL_REAL | d |
Plane offset. More... | |
Vec3f | n |
Plane normal. More... | |
Public Attributes inherited from hpp::fcl::CollisionGeometry | |
Vec3f | aabb_center |
AABB center in local coordinate. More... | |
AABB | aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform. More... | |
FCL_REAL | aabb_radius |
AABB radius. More... | |
FCL_REAL | cost_density |
collision cost for unit volume More... | |
FCL_REAL | threshold_free |
threshold for free (<= is free) More... | |
FCL_REAL | threshold_occupied |
threshold for occupied ( >= is occupied) More... | |
void * | user_data |
pointer to user defined data specific to this object More... | |
Protected Member Functions | |
void | unitNormalTest () |
Turn non-unit normal into unit. More... | |
Private Member Functions | |
virtual bool | isEqual (const CollisionGeometry &_other) const |
equal operator with another object of derived type. More... | |
Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space.
Definition at line 729 of file shape/geometric_shapes.h.