shape/convex.h
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35 
38 #ifndef HPP_FCL_SHAPE_CONVEX_H
39 #define HPP_FCL_SHAPE_CONVEX_H
40 
42 
43 namespace hpp {
44 namespace fcl {
45 
49 template <typename PolygonT>
50 class Convex : public ConvexBase {
51  public:
53  Convex() : ConvexBase(), polygons(NULL), num_polygons(0) {}
54 
64  Convex(bool ownStorage, Vec3f* points_, unsigned int num_points_,
65  PolygonT* polygons_, unsigned int num_polygons_);
66 
69  Convex(const Convex& other);
70 
71  ~Convex();
72 
76  PolygonT* polygons;
77  unsigned int num_polygons;
78 
81 
82  Vec3f computeCOM() const;
83 
84  FCL_REAL computeVolume() const;
85 
97  void set(bool ownStorage, Vec3f* points, unsigned int num_points,
98  PolygonT* polygons, unsigned int num_polygons);
99 
101  virtual Convex<PolygonT>* clone() const;
102 
103  protected:
104  void fillNeighbors();
105 };
106 
107 } // namespace fcl
108 
109 } // namespace hpp
110 
111 #include <hpp/fcl/shape/details/convex.hxx>
112 
113 #endif
hpp::fcl::Convex::computeVolume
FCL_REAL computeVolume() const
compute the volume
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
hpp::fcl::ConvexBase::points
Vec3f * points
An array of the points of the polygon.
Definition: shape/geometric_shapes.h:623
hpp::fcl::Convex::clone
virtual Convex< PolygonT > * clone() const
&#160;
hpp::fcl::ConvexBase::num_points
unsigned int num_points
Definition: shape/geometric_shapes.h:624
hpp::fcl::Convex::fillNeighbors
void fillNeighbors()
hpp::fcl::Convex::set
void set(bool ownStorage, Vec3f *points, unsigned int num_points, PolygonT *polygons, unsigned int num_polygons)
Set the current Convex from a list of points and polygons.
hpp::fcl::Convex::num_polygons
unsigned int num_polygons
Definition: shape/convex.h:77
hpp::fcl::Convex::computeCOM
Vec3f computeCOM() const
compute center of mass
hpp::fcl::Convex
Convex polytope.
Definition: shape/convex.h:50
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::Matrix3f
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
hpp::fcl::ConvexBase
Base for convex polytope.
Definition: shape/geometric_shapes.h:581
hpp::fcl::Convex::~Convex
~Convex()
hpp::fcl::Convex::polygons
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon,...
Definition: shape/convex.h:76
geometric_shapes.h
hpp::fcl::Convex::Convex
Convex()
Construct an uninitialized convex object.
Definition: shape/convex.h:53
hpp::fcl::Convex::computeMomentofInertia
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc


hpp-fcl
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autogenerated on Fri Aug 2 2024 02:45:13