hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
Loading...
Searching...
No Matches
convex.h
Go to the documentation of this file.
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 */
35
39#ifndef HPP_FCL_SHAPE_CONVEX_H
40#define HPP_FCL_SHAPE_CONVEX_H
41
43
44namespace hpp
45{
46namespace fcl
47{
48
52template <typename PolygonT>
53class Convex : public ConvexBase
54{
55public:
58
67 Convex(bool ownStorage,
68 Vec3f* points_, unsigned int num_points_,
69 PolygonT* polygons_, unsigned int num_polygons_);
70
73 Convex(const Convex& other);
74
75 ~Convex();
76
80 PolygonT* polygons;
81 unsigned int num_polygons;
82
85
86 Vec3f computeCOM() const;
87
88 FCL_REAL computeVolume() const;
89
101 void set(bool ownStorage,
102 Vec3f* points_, unsigned int num_points_,
103 PolygonT* polygons_, unsigned int num_polygons_);
104
105protected:
106 void fillNeighbors();
107};
108
109}
110
111} // namespace hpp
112
114
115#endif
Base for convex polytope.
Definition: geometric_shapes.h:356
Convex polytope.
Definition: convex.h:54
Convex()
Construct an uninitialized convex object.
Definition: convex.h:57
void set(bool ownStorage, Vec3f *points_, unsigned int num_points_, PolygonT *polygons_, unsigned int num_polygons_)
Set the current Convex from a list of points and polygons.
Definition: convex.hxx:78
~Convex()
Definition: convex.hxx:72
unsigned int num_polygons
Definition: convex.h:81
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:131
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon,...
Definition: convex.h:80
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:165
void fillNeighbors()
Definition: convex.hxx:198
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:92
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:69
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
double FCL_REAL
Definition: data_types.h:66
Main namespace.
Definition: AABB.h:44