hpp-fcl
1.4.5
HPP fork of FCL -- The Flexible Collision Library
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Minkowski difference class of two shapes. More...
#include <hpp/fcl/narrowphase/gjk.h>
Public Types | |
typedef void(* | GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint) |
Public Member Functions | |
MinkowskiDiff () | |
void | set (const ShapeBase *shape0, const ShapeBase *shape1) |
void | set (const ShapeBase *shape0, const ShapeBase *shape1, const Transform3f &tf0, const Transform3f &tf1) |
Set the two shapes, with a relative transformation. More... | |
Vec3f | support0 (const Vec3f &d, bool dIsNormalized, int &hint) const |
support function for shape0 More... | |
Vec3f | support1 (const Vec3f &d, bool dIsNormalized, int &hint) const |
support function for shape1 More... | |
void | support (const Vec3f &d, bool dIsNormalized, Vec3f &supp0, Vec3f &supp1, support_func_guess_t &hint) const |
support function for the pair of shapes More... | |
Public Attributes | |
const ShapeBase * | shapes [2] |
points to two shapes More... | |
Matrix3f | oR1 |
rotation from shape1 to shape0 such that ![]() | |
Vec3f | ot1 |
translation from shape1 to shape0 such that ![]() | |
Eigen::Array< FCL_REAL, 1, 2 > | inflation |
The radius of the sphere swepted volume. The 2 values correspond to the inflation of shape 0 and shape 1. More... | |
GetSupportFunction | getSupportFunc |
Minkowski difference class of two shapes.
typedef void(* hpp::fcl::details::MinkowskiDiff::GetSupportFunction) (const MinkowskiDiff &minkowskiDiff, const Vec3f &dir, bool dirIsNormalized, Vec3f &support0, Vec3f &support1, support_func_guess_t &hint) |
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inline |
Set the two shapes, assuming the relative transformation between them is identity.
void hpp::fcl::details::MinkowskiDiff::set | ( | const ShapeBase * | shape0, |
const ShapeBase * | shape1, | ||
const Transform3f & | tf0, | ||
const Transform3f & | tf1 | ||
) |
Set the two shapes, with a relative transformation.
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inline |
support function for the pair of shapes
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inline |
support function for shape0
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inline |
support function for shape1
GetSupportFunction hpp::fcl::details::MinkowskiDiff::getSupportFunc |
Eigen::Array<FCL_REAL, 1, 2> hpp::fcl::details::MinkowskiDiff::inflation |
The radius of the sphere swepted volume. The 2 values correspond to the inflation of shape 0 and shape 1.
Matrix3f hpp::fcl::details::MinkowskiDiff::oR1 |
rotation from shape1 to shape0 such that .
Vec3f hpp::fcl::details::MinkowskiDiff::ot1 |
translation from shape1 to shape0 such that .
const ShapeBase* hpp::fcl::details::MinkowskiDiff::shapes[2] |
points to two shapes