Classes | Public Member Functions | Public Attributes | Static Private Member Functions | List of all members
hpp::fcl::kIOS Class Reference

A class describing the kIOS collision structure, which is a set of spheres. More...

#include <kIOS.h>

Classes

struct  kIOS_Sphere
 One sphere in kIOS. More...
 

Public Member Functions

const Vec3fcenter () const
 Center of the kIOS. More...
 
bool contain (const Vec3f &p) const
 Check whether the kIOS contains a point. More...
 
FCL_REAL depth () const
 Depth of the kIOS. More...
 
FCL_REAL distance (const kIOS &other, Vec3f *P=NULL, Vec3f *Q=NULL) const
 The distance between two kIOS. More...
 
FCL_REAL height () const
 Height of the kIOS. More...
 
bool operator!= (const kIOS &other) const
 Difference operator. More...
 
kIOS operator+ (const kIOS &other) const
 Return the merged kIOS of current kIOS and the other one. More...
 
kIOSoperator+= (const Vec3f &p)
 A simple way to merge the kIOS and a point. More...
 
kIOSoperator+= (const kIOS &other)
 Merge the kIOS and another kIOS. More...
 
bool operator== (const kIOS &other) const
 Equality operator. More...
 
bool overlap (const kIOS &other) const
 Check collision between two kIOS. More...
 
bool overlap (const kIOS &other, const CollisionRequest &, FCL_REAL &sqrDistLowerBound) const
 Check collision between two kIOS. More...
 
FCL_REAL size () const
 size of the kIOS (used in BV_Splitter to order two kIOSs) More...
 
FCL_REAL volume () const
 Volume of the kIOS. More...
 
FCL_REAL width () const
 Width of the kIOS. More...
 

Public Attributes

unsigned int num_spheres
 The number of spheres, no larger than 5. More...
 
OBB obb
 @ OBB related with kIOS More...
 
kIOS_Sphere spheres [5]
 The (at most) five spheres for intersection. More...
 

Static Private Member Functions

static kIOS_Sphere encloseSphere (const kIOS_Sphere &s0, const kIOS_Sphere &s1)
 generate one sphere enclosing two spheres More...
 

Detailed Description

A class describing the kIOS collision structure, which is a set of spheres.

Definition at line 53 of file kIOS.h.


The documentation for this class was generated from the following files:


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03