capsule.h

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#ifndef FCL_SHAPE_CAPSULE_H
#define FCL_SHAPE_CAPSULE_H
 
#include <ostream>
#include <string>
 
#include "fcl/geometry/shape/shape_base.h"
 
namespace fcl
{
 
template <typename S_>
class FCL_EXPORT Capsule : public ShapeBase<S_>
{
public:
 
  using S = S_;
 
  Capsule(S radius, S lz);
 
  S radius;
 
  S lz;
 
  void computeLocalAABB() override;
 
  NODE_TYPE getNodeType() const override;
 
  // Documentation inherited
  S computeVolume() const override;
 
  // Documentation inherited
  Matrix3<S> computeMomentofInertia() const override;
 
  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
 
  std::string representation(int precision = 20) const;
 
  friend
  std::ostream& operator<<(std::ostream& out, const Capsule& capsule) {
    out << "Capsule(r: " << capsule.radius << ", lz: " << capsule.lz << ")";
    return out;
  }
};
 
using Capsulef = Capsule<float>;
using Capsuled = Capsule<double>;
 
} // namespace fcl
 
#include "fcl/geometry/shape/capsule-inl.h"
 
#endif