cone.h
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35 
38 #ifndef FCL_SHAPE_CONE_H
39 #define FCL_SHAPE_CONE_H
40 
41 #include <ostream>
42 #include <string>
43 
45 
46 namespace fcl
47 {
48 
50 template <typename S_>
51 class FCL_EXPORT Cone : public ShapeBase<S_>
52 {
53 public:
54 
55  using S = S_;
56 
57  Cone(S radius, S lz);
58 
61 
63  S lz;
64 
66  void computeLocalAABB() override;
67 
69  NODE_TYPE getNodeType() const override;
70 
71  // Documentation inherited
72  S computeVolume() const override;
73 
74  // Documentation inherited
75  Matrix3<S> computeMomentofInertia() const override;
76 
77  // Documentation inherited
78  Vector3<S> computeCOM() const override;
79 
82  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
83 
89  std::string representation(int precision = 20) const;
90 
91  friend
92  std::ostream& operator<<(std::ostream& out, const Cone& cone) {
93  out << "Cone(r: " << cone.radius << ", lz: " << cone.lz << ")";
94  return out;
95  }
96 };
97 
100 
101 } // namespace fcl
102 
104 
105 #endif
cone-inl.h
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::ShapeBase
Base class for all basic geometric shapes.
Definition: shape_base.h:48
shape_base.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::Cone::S
S_ S
Definition: cone.h:55
fcl::Cone::lz
S lz
Length along z axis.
Definition: cone.h:63
fcl::Cone::radius
S radius
Radius of the cone.
Definition: cone.h:60
fcl::Cone
Center at zero cone.
Definition: cone.h:51
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::Cone::operator<<
friend std::ostream & operator<<(std::ostream &out, const Cone &cone)
Definition: cone.h:92
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Dec 5 2023 03:40:48