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.

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

• minkowski_diff.h
• minkowski_diff-inl.h