Class Capsule

• Defined in File geometric_shapes.h

Inheritance Relationships

Base Type

• public hpp::fcl::ShapeBase (Class ShapeBase)

Class Documentation

class Capsule : public hpp::fcl::ShapeBase

Capsule It is \( { x~\in~\mathbb{R}^3, d(x, AB) \leq radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \).