minkowski_diff.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
39 #define FCL_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
40 
43 
44 namespace fcl
45 {
46 
47 namespace detail
48 {
49 
51 template <typename S, typename Derived>
52 Vector3<S> getSupport(
53  const ShapeBase<S>* shape,
54  const Eigen::MatrixBase<Derived>& dir);
55 
57 template <typename S>
58 struct FCL_EXPORT MinkowskiDiff
59 {
61  const ShapeBase<S>* shapes[2];
62 
65 
68 
69  MinkowskiDiff();
70 
72  Vector3<S> support0(const Vector3<S>& d) const;
73 
75  Vector3<S> support1(const Vector3<S>& d) const;
76 
78  Vector3<S> support(const Vector3<S>& d) const;
79 
81  Vector3<S> support(const Vector3<S>& d, size_t index) const;
82 
84  Vector3<S> support0(const Vector3<S>& d, const Vector3<S>& v) const;
85 
87  Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v) const;
88 
90  Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v, size_t index) const;
91 
92  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
93 };
94 
97 
98 } // namespace detail
99 } // namespace fcl
100 
102 
103 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::detail::MinkowskiDiff::toshape1
Matrix3< S > toshape1
rotation from shape0 to shape1
Definition: minkowski_diff.h:64
project.h
fcl::ShapeBase< S >
fcl::detail::MinkowskiDiff::toshape0
Transform3< S > toshape0
transform from shape1 to shape0
Definition: minkowski_diff.h:67
minkowski_diff-inl.h
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::detail::getSupport
FCL_EXPORT Vector3< S > getSupport(const ShapeBase< S > *shape, const Eigen::MatrixBase< Derived > &dir)
the support function for shape
Definition: minkowski_diff-inl.h:67
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::detail::MinkowskiDiff
Minkowski difference class of two shapes.
Definition: minkowski_diff.h:58


fcl
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autogenerated on Fri Apr 2 2021 02:38:00