Public Types | Public Member Functions | Public Attributes | Friends | List of all members
fcl::Capsule< S_ > Class Template Reference

Center at zero point capsule. More...

#include <capsule.h>

Inheritance diagram for fcl::Capsule< S_ >:
Inheritance graph
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Public Types

using S = S_
 
- Public Types inherited from fcl::ShapeBase< S_ >
using S = S_
 

Public Member Functions

 Capsule (S radius, S lz)
 Constructor. More...
 
void computeLocalAABB () override
 Compute AABB More...
 
Matrix3< ScomputeMomentofInertia () const override
 
S computeVolume () const override
 
std::vector< Vector3< S > > getBoundVertices (const Transform3< S > &tf) const
 get the vertices of some convex shape which can bound this shape in a specific configuration More...
 
NODE_TYPE getNodeType () const override
 Get node type: a capsule. More...
 
- Public Member Functions inherited from fcl::ShapeBase< S_ >
OBJECT_TYPE getObjectType () const
 Get object type: a geometric shape. More...
 
 ShapeBase ()
 
- Public Member Functions inherited from fcl::CollisionGeometry< S_ >
 CollisionGeometry ()
 
virtual Vector3< S_ > computeCOM () const
 compute center of mass More...
 
virtual Matrix3< S_ > computeMomentofInertia () const
 compute the inertia matrix, related to the origin More...
 
virtual Matrix3< S_ > computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 
virtual S_ computeVolume () const
 compute the volume More...
 
virtual NODE_TYPE getNodeType () const
 get the node type More...
 
virtual OBJECT_TYPE getObjectType () const
 get the type of the object 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...
 
void setUserData (void *data)
 set user data in geometry More...
 
virtual ~CollisionGeometry ()
 

Public Attributes

S lz
 Length along z axis. More...
 
S radius
 Radius of capsule. More...
 
- Public Attributes inherited from fcl::CollisionGeometry< S_ >
Vector3< S_ > aabb_center
 AABB center in local coordinate. More...
 
AABB< S_ > aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform. More...
 
S_ aabb_radius
 AABB radius. More...
 
S_ cost_density
 collision cost for unit volume More...
 
S_ threshold_free
 threshold for free (<= is free) More...
 
S_ threshold_occupied
 threshold for occupied ( >= is occupied) More...
 
void * user_data
 pointer to user defined data specific to this object More...
 

Friends

std::ostream & operator<< (std::ostream &out, const Capsule &capsule)
 

Detailed Description

template<typename S_>
class fcl::Capsule< S_ >

Center at zero point capsule.

Definition at line 50 of file capsule.h.

Member Typedef Documentation

◆ S

template<typename S_ >
using fcl::Capsule< S_ >::S = S_

Definition at line 54 of file capsule.h.

Constructor & Destructor Documentation

◆ Capsule()

template<typename S >
fcl::Capsule< S >::Capsule ( S  radius,
S  lz 
)

Constructor.

Definition at line 52 of file capsule-inl.h.

Member Function Documentation

◆ computeLocalAABB()

template<typename S >
void fcl::Capsule< S >::computeLocalAABB
overridevirtual

Compute AABB

Implements fcl::CollisionGeometry< S_ >.

Definition at line 60 of file capsule-inl.h.

◆ computeMomentofInertia()

template<typename S >
Matrix3< S > fcl::Capsule< S >::computeMomentofInertia
override

Definition at line 87 of file capsule-inl.h.

◆ computeVolume()

template<typename S >
S fcl::Capsule< S >::computeVolume
override

Definition at line 79 of file capsule-inl.h.

◆ getBoundVertices()

template<typename S >
std::vector< Vector3< S > > fcl::Capsule< S >::getBoundVertices ( const Transform3< S > &  tf) const

get the vertices of some convex shape which can bound this shape in a specific configuration

Definition at line 103 of file capsule-inl.h.

◆ getNodeType()

template<typename S >
NODE_TYPE fcl::Capsule< S >::getNodeType
override

Get node type: a capsule.

Definition at line 72 of file capsule-inl.h.

Friends And Related Function Documentation

◆ operator<<

template<typename S_ >
std::ostream& operator<< ( std::ostream &  out,
const Capsule< S_ > &  capsule 
)
friend

Definition at line 82 of file capsule.h.

Member Data Documentation

◆ lz

template<typename S_ >
S fcl::Capsule< S_ >::lz

Length along z axis.

Definition at line 63 of file capsule.h.

◆ radius

template<typename S_ >
S fcl::Capsule< S_ >::radius

Radius of capsule.

Definition at line 60 of file capsule.h.


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


fcl
Author(s):
autogenerated on Tue Jun 22 2021 07:27:55