Public Member Functions | Public Attributes | List of all members
fcl::detail::MinkowskiDiff< S > Struct Template Reference

Minkowski difference class of two shapes. More...

#include <minkowski_diff.h>

Public Member Functions

 MinkowskiDiff ()
 
Vector3< S > support (const Vector3< S > &d) const
 support function for the pair of shapes More...
 
Vector3< S > support (const Vector3< S > &d, const Vector3< S > &v) const
 support function for the pair of shapes, where shape0 is translating at velocity v More...
 
Vector3< S > support (const Vector3< S > &d, const Vector3< S > &v, size_t index) const
 support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v More...
 
Vector3< S > support (const Vector3< S > &d, size_t index) const
 support function for the d-th shape (d = 0 or 1) More...
 
Vector3< S > support0 (const Vector3< S > &d) const
 support function for shape0 More...
 
Vector3< S > support0 (const Vector3< S > &d, const Vector3< S > &v) const
 support function for translating shape0, which is translating at velocity v More...
 
Vector3< S > support1 (const Vector3< S > &d) const
 support function for shape1 More...
 

Public Attributes

const ShapeBase< S > * shapes [2]
 points to two shapes More...
 
Transform3< S > toshape0
 transform from shape1 to shape0 More...
 
Matrix3< S > toshape1
 rotation from shape0 to shape1 More...
 

Detailed Description

template<typename S>
struct fcl::detail::MinkowskiDiff< S >

Minkowski difference class of two shapes.

Definition at line 58 of file minkowski_diff.h.

Constructor & Destructor Documentation

◆ MinkowskiDiff()

template<typename S >
fcl::detail::MinkowskiDiff< S >::MinkowskiDiff

Definition at line 210 of file minkowski_diff-inl.h.

Member Function Documentation

◆ support() [1/4]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support ( const Vector3< S > &  d) const

support function for the pair of shapes

Definition at line 231 of file minkowski_diff-inl.h.

◆ support() [2/4]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support ( const Vector3< S > &  d,
const Vector3< S > &  v 
) const

support function for the pair of shapes, where shape0 is translating at velocity v

Definition at line 258 of file minkowski_diff-inl.h.

◆ support() [3/4]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support ( const Vector3< S > &  d,
const Vector3< S > &  v,
size_t  index 
) const

support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v

Definition at line 265 of file minkowski_diff-inl.h.

◆ support() [4/4]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support ( const Vector3< S > &  d,
size_t  index 
) const

support function for the d-th shape (d = 0 or 1)

Definition at line 238 of file minkowski_diff-inl.h.

◆ support0() [1/2]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support0 ( const Vector3< S > &  d) const

support function for shape0

Definition at line 217 of file minkowski_diff-inl.h.

◆ support0() [2/2]

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support0 ( const Vector3< S > &  d,
const Vector3< S > &  v 
) const

support function for translating shape0, which is translating at velocity v

Definition at line 248 of file minkowski_diff-inl.h.

◆ support1()

template<typename S >
Vector3< S > fcl::detail::MinkowskiDiff< S >::support1 ( const Vector3< S > &  d) const

support function for shape1

Definition at line 224 of file minkowski_diff-inl.h.

Member Data Documentation

◆ shapes

template<typename S >
const ShapeBase<S>* fcl::detail::MinkowskiDiff< S >::shapes[2]

points to two shapes

Definition at line 61 of file minkowski_diff.h.

◆ toshape0

template<typename S >
Transform3<S> fcl::detail::MinkowskiDiff< S >::toshape0

transform from shape1 to shape0

Definition at line 67 of file minkowski_diff.h.

◆ toshape1

template<typename S >
Matrix3<S> fcl::detail::MinkowskiDiff< S >::toshape1

rotation from shape0 to shape1

Definition at line 64 of file minkowski_diff.h.


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


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02