Center at zero cone. More...
#include <cone.h>
Public Types | |
using | S = S_ |
Public Types inherited from fcl::ShapeBase< S_ > | |
using | S = S_ |
Public Member Functions | |
Vector3< S > | computeCOM () const override |
void | computeLocalAABB () override |
Compute AABB. More... | |
Matrix3< S > | computeMomentofInertia () const override |
S | computeVolume () const override |
Cone (S radius, S lz) | |
std::vector< Vector3< S > > | getBoundVertices (const Transform3< S > &tf) const |
get the vertices of some convex shape which can bound this shape in a specific configuration More... | |
NODE_TYPE | getNodeType () const override |
Get node type: a cone. More... | |
std::string | representation (int precision=20) const |
Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python. More... | |
Public Member Functions inherited from fcl::ShapeBase< S_ > | |
OBJECT_TYPE | getObjectType () const |
Get object type: a geometric shape. More... | |
ShapeBase () | |
Public Member Functions inherited from fcl::CollisionGeometry< S_ > | |
CollisionGeometry () | |
virtual Vector3< S_ > | computeCOM () const |
compute center of mass More... | |
virtual Matrix3< S_ > | computeMomentofInertia () const |
compute the inertia matrix, related to the origin More... | |
virtual Matrix3< S_ > | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com More... | |
virtual S_ | computeVolume () const |
compute the volume More... | |
virtual NODE_TYPE | getNodeType () const |
get the node type More... | |
virtual OBJECT_TYPE | getObjectType () const |
get the type of the object More... | |
void * | getUserData () const |
get user data in geometry More... | |
bool | isFree () const |
whether the object is completely free More... | |
bool | isOccupied () const |
whether the object is completely occupied More... | |
bool | isUncertain () const |
whether the object has some uncertainty More... | |
void | setUserData (void *data) |
set user data in geometry More... | |
virtual | ~CollisionGeometry () |
Public Attributes | |
S | lz |
Length along z axis. More... | |
S | radius |
Radius of the cone. More... | |
Public Attributes inherited from fcl::CollisionGeometry< S_ > | |
Vector3< S_ > | aabb_center |
AABB center in local coordinate. More... | |
AABB< S_ > | aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform. More... | |
S_ | aabb_radius |
AABB radius. More... | |
S_ | cost_density |
collision cost for unit volume More... | |
S_ | threshold_free |
threshold for free (<= is free) More... | |
S_ | threshold_occupied |
threshold for occupied ( >= is occupied) More... | |
void * | user_data |
pointer to user defined data specific to this object More... | |
Friends | |
std::ostream & | operator<< (std::ostream &out, const Cone &cone) |
Center at zero cone.
Definition at line 56 of file cone-inl.h.
Definition at line 101 of file cone-inl.h.
Definition at line 90 of file cone-inl.h.
Definition at line 83 of file cone-inl.h.
std::vector< Vector3< S > > fcl::Cone< S >::getBoundVertices | ( | const Transform3< S > & | tf | ) | const |
get the vertices of some convex shape which can bound this shape in a specific configuration
Definition at line 108 of file cone-inl.h.
Get node type: a cone.
Definition at line 76 of file cone-inl.h.
Create a string that should be sufficient to recreate this shape. This is akin to the repr() implementation in python.
precision | The requested digits of precision for the numerical measures (same semantics as std::setprecision()). |
Definition at line 132 of file cone-inl.h.
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friend |