geometry/shape/halfspace.h
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35 
38 #ifndef FCL_SHAPE_HALFSPACE_H
39 #define FCL_SHAPE_HALFSPACE_H
40 
41 #include <iostream>
42 
44 #include "fcl/math/bv/OBB.h"
45 #include "fcl/math/bv/RSS.h"
46 #include "fcl/math/bv/OBBRSS.h"
47 #include "fcl/math/bv/kDOP.h"
48 #include "fcl/math/bv/kIOS.h"
49 
50 namespace fcl
51 {
52 
58 template <typename S_>
59 class FCL_EXPORT Halfspace : public ShapeBase<S_>
60 {
61 public:
62 
63  using S = S_;
64 
66  Halfspace(const Vector3<S>& n, S d);
67 
69  Halfspace(S a, S b, S c, S d_);
70 
71  Halfspace();
72 
73  S signedDistance(const Vector3<S>& p) const;
74 
75  S distance(const Vector3<S>& p) const;
76 
78  void computeLocalAABB() override;
79 
81  NODE_TYPE getNodeType() const override;
82 
85 
87  S d;
88 
89  friend
90  std::ostream& operator<<(std::ostream& out, const Halfspace& halfspace) {
91  out << "Halfspace(n: " << halfspace.n.transpose() << ", d: "
92  << halfspace.d << ")";
93  return out;
94  }
95 
96 protected:
97 
99  void unitNormalTest();
100 };
101 
104 
105 template <typename S>
106 FCL_EXPORT
107 Halfspace<S> transform(const Halfspace<S>& a, const Transform3<S>& tf);
108 
109 } // namespace fcl
110 
112 
113 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::distance
S distance(const Eigen::MatrixBase< DerivedA > &R0, const Eigen::MatrixBase< DerivedB > &T0, const kIOS< S > &b1, const kIOS< S > &b2, Vector3< S > *P, Vector3< S > *Q)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS-inl.h:266
fcl::Halfspace::S
S_ S
Definition: geometry/shape/halfspace.h:63
fcl::transform
template Halfspace< double > transform(const Halfspace< double > &a, const Transform3< double > &tf)
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::Halfspace::operator<<
friend std::ostream & operator<<(std::ostream &out, const Halfspace &halfspace)
Definition: geometry/shape/halfspace.h:90
halfspace-inl.h
fcl::Halfspace
Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d....
Definition: geometry/shape/halfspace.h:59
OBBRSS.h
fcl::Halfspace::n
Vector3< S > n
Planed normal.
Definition: geometry/shape/halfspace.h:84
fcl::Halfspace::d
S d
Planed offset.
Definition: geometry/shape/halfspace.h:87
kDOP.h
OBB.h
RSS.h
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
kIOS.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:51