Class Capsule

Inheritance Relationships

Base Type

Class Documentation

class Capsule : public hpp::fcl::ShapeBase

Capsule It is x  R3,d(x,AB)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).

Public Functions

inline Capsule()

Default constructor.

inline Capsule(FCL_REAL radius_, FCL_REAL lz_)
inline Capsule(const Capsule &other)
inline virtual Capsule *clone() const

Clone *this into a new Capsule.

virtual void computeLocalAABB()

Compute AABB.

inline virtual NODE_TYPE getNodeType() const

Get node type: a capsule.

inline virtual FCL_REAL computeVolume() const

compute the volume

inline virtual Matrix3f computeMomentofInertia() const

compute the inertia matrix, related to the origin

inline FCL_REAL minInflationValue() const
inline std::pair<Capsule, Transform3f> inflated(const FCL_REAL value) const

Inflate the capsule by an amount given by value.

Parameters:

value[in] of the shape inflation.

Returns:

a new inflated capsule and the related transform to account for the change of shape frame

Public Members

FCL_REAL radius

Radius of capsule.

FCL_REAL halfLength

Half Length along z axis.