#include <hpp/fcl/serialization/convex.h>
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void | fillNeighbors () |
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| Convex () |
| Construct an uninitialized convex object.
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| Convex (bool ownStorage, Vec3f *points_, unsigned int num_points_, PolygonT *polygons_, unsigned int num_polygons_) |
| Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
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| Convex (const Convex &other) |
| Copy constructor Only the list of neighbors is copied.
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| ~Convex () |
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Matrix3f | computeMomentofInertia () const |
| based on http://number-none.com/blow/inertia/bb_inertia.doc
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Vec3f | computeCOM () const |
| compute center of mass
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FCL_REAL | computeVolume () const |
| compute the volume
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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.
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virtual Convex< PolygonT > * | clone () const |
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virtual | ~ConvexBase () |
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void | computeLocalAABB () |
| Compute AABB.
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NODE_TYPE | getNodeType () const |
| Get node type: a conex polytope.
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| ShapeBase () |
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| ShapeBase (const ShapeBase &other) |
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ShapeBase & | operator= (const ShapeBase &other)=default |
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virtual | ~ShapeBase () |
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OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape.
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| CollisionGeometry () |
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| CollisionGeometry (const CollisionGeometry &other)=default |
| Copy constructor.
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virtual | ~CollisionGeometry () |
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bool | operator== (const CollisionGeometry &other) const |
| Equality operator.
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bool | operator!= (const CollisionGeometry &other) const |
| Difference operator.
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void * | getUserData () const |
| get user data in geometry
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void | setUserData (void *data) |
| set user data in geometry
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bool | isOccupied () const |
| whether the object is completely occupied
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bool | isFree () const |
| whether the object is completely free
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bool | isUncertain () const |
| whether the object has some uncertainty
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virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com
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static ConvexBase * | convexHull (const Vec3f *points, unsigned int num_points, bool keepTriangles, const char *qhullCommand=NULL) |
| Build a convex hull based on Qhull library and store the vertices and optionally the triangles.
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PolygonT * | polygons |
| An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.
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unsigned int | num_polygons |
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Vec3f * | points |
| An array of the points of the polygon.
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unsigned int | num_points |
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Neighbors * | neighbors |
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Vec3f | center |
| center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex)
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Vec3f | aabb_center |
| AABB center in local coordinate.
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FCL_REAL | aabb_radius |
| AABB radius.
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AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform.
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void * | user_data |
| pointer to user defined data specific to this object
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FCL_REAL | cost_density |
| collision cost for unit volume
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FCL_REAL | threshold_occupied |
| threshold for occupied ( >= is occupied)
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FCL_REAL | threshold_free |
| threshold for free (<= is free)
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void | fillNeighbors () |
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| ConvexBase () |
| Construct an uninitialized convex object Initialization is done with ConvexBase::initialize.
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void | initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
| Initialize the points of the convex shape This also initializes the ConvexBase::center.
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void | set (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
| Set the points of the convex shape.
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| ConvexBase (const ConvexBase &other) |
| Copy constructor Only the list of neighbors is copied.
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unsigned int * | nneighbors_ |
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bool | own_storage_ |
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◆ Base
template<typename PolygonT >
◆ fillNeighbors()
template<typename PolygonT >
The documentation for this struct was generated from the following file: