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hpp::constraints::Triangle Class Reference

#include <hpp/constraints/static-stability.hh>

Public Member Functions

 Triangle (const fcl::Vec3f &p0, const fcl::Vec3f &p1, const fcl::Vec3f &p2)
 Represent a triangle. More...
 
 Triangle (const fcl::TriangleP &t)
 
fcl::Vec3f intersection (const fcl::Vec3f &A, const fcl::Vec3f &u) const
 Intersection with a line defined by a point and a vector. More...
 
bool isInside (const fcl::Vec3f &A, const fcl::Vec3f &u) const
 Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle. More...
 
bool isInside (const fcl::Vec3f &Ap) const
 
value_type distance (const fcl::Vec3f &A) const
 Return the shortest distance from a point to the triangle. More...
 
const fcl::Vec3f & planeXaxis () const
 
const fcl::Vec3f & planeYaxis () const
 
const fcl::Vec3f & normal () const
 
const fcl::Vec3f & center () const
 
const fcl::Transform3f & transformation () const
 

Constructor & Destructor Documentation

hpp::constraints::Triangle::Triangle ( const fcl::Vec3f &  p0,
const fcl::Vec3f &  p1,
const fcl::Vec3f &  p2 
)
inline

Represent a triangle.

hpp::constraints::Triangle::Triangle ( const fcl::TriangleP &  t)
inline

Member Function Documentation

const fcl::Vec3f& hpp::constraints::Triangle::center ( ) const
inline
value_type hpp::constraints::Triangle::distance ( const fcl::Vec3f &  A) const
inline

Return the shortest distance from a point to the triangle.

A negative value means the point is inside the triangle.

Parameters
Aa point already in the plane containing the triangle.
fcl::Vec3f hpp::constraints::Triangle::intersection ( const fcl::Vec3f &  A,
const fcl::Vec3f &  u 
) const
inline

Intersection with a line defined by a point and a vector.

Referenced by isInside().

bool hpp::constraints::Triangle::isInside ( const fcl::Vec3f &  A,
const fcl::Vec3f &  u 
) const
inline

Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle.

References intersection().

bool hpp::constraints::Triangle::isInside ( const fcl::Vec3f &  Ap) const
inline
const fcl::Vec3f& hpp::constraints::Triangle::normal ( ) const
inline
const fcl::Vec3f& hpp::constraints::Triangle::planeXaxis ( ) const
inline
const fcl::Vec3f& hpp::constraints::Triangle::planeYaxis ( ) const
inline
const fcl::Transform3f& hpp::constraints::Triangle::transformation ( ) const
inline