Class Cone

Defined in File geometric_shapes.h

Inheritance Relationships

Base Type

public hpp::fcl::ShapeBase (Class ShapeBase)

Class Documentation

class Cone : public hpp::fcl::ShapeBase 

Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \).

Public Functions

inline Cone(): Default constructor.

inline Cone(FCL_REAL radius_, FCL_REAL lz_)

inline Cone(const Cone &other)

inline virtual Cone *clone() const: Clone *this into a new Cone.

virtual void computeLocalAABB(): Compute AABB.

inline virtual NODE_TYPE getNodeType() const: Get node type: a cone.

inline virtual FCL_REAL computeVolume() const: compute the volume

inline virtual Matrix3f computeMomentofInertia() const: compute the inertia matrix, related to the origin

inline virtual Vec3f computeCOM() const: compute center of mass

inline FCL_REAL minInflationValue() const

inline std::pair<Cone, Transform3f> inflated(const FCL_REAL value) const

Inflate the cone by an amount given by value.

Parameters:: value – [in] of the shape inflation.
Returns:: a new inflated cone and the related transform to account for the change of shape frame

Public Members

FCL_REAL radius: Radius of the cone.

FCL_REAL halfLength: Half Length along z axis.