hpp-fcl 2.3.0
HPP fork of FCL -- The Flexible Collision Library
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convex.h
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35
38#ifndef HPP_FCL_SHAPE_CONVEX_H
39#define HPP_FCL_SHAPE_CONVEX_H
40
42
43namespace hpp {
44namespace fcl {
45
49template <typename PolygonT>
50class Convex : public ConvexBase {
51 public:
54
64 Convex(bool ownStorage, Vec3f* points_, unsigned int num_points_,
65 PolygonT* polygons_, unsigned int num_polygons_);
66
69 Convex(const Convex& other);
70
71 ~Convex();
72
76 PolygonT* polygons;
77 unsigned int num_polygons;
78
81
82 Vec3f computeCOM() const;
83
84 FCL_REAL computeVolume() const;
85
97 void set(bool ownStorage, Vec3f* points, unsigned int num_points,
98 PolygonT* polygons, unsigned int num_polygons);
99
101 virtual Convex<PolygonT>* clone() const;
102
103 protected:
104 void fillNeighbors();
105};
106
107} // namespace fcl
108
109} // namespace hpp
110
112
113#endif
Base for convex polytope.
Definition: geometric_shapes.h:581
Convex polytope.
Definition: convex.h:50
virtual Convex< PolygonT > * clone() const
&#160;
Definition: convex.hxx:85
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:72
Convex()
Construct an uninitialized convex object.
Definition: convex.h:53
~Convex()
Definition: convex.hxx:67
unsigned int num_polygons
Definition: convex.h:77
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:139
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon,...
Definition: convex.h:76
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:172
void fillNeighbors()
Definition: convex.hxx:204
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:100
Vec3f * points
An array of the points of the polygon.
Definition: geometric_shapes.h:623
unsigned int num_points
Definition: geometric_shapes.h:624
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:66
double FCL_REAL
Definition: data_types.h:65
Main namespace.
Definition: broadphase_bruteforce.h:44