hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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#include <hpp/fcl/serialization/convex.h>
Public Types | |
typedef hpp::fcl::ConvexBase | Base |
Public Attributes | |
bool | own_storage_ |
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Vec3f * | points |
An array of the points of the polygon. | |
unsigned int | num_points |
Neighbors * | neighbors |
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. | |
FCL_REAL | aabb_radius |
AABB radius. | |
AABB | aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform. | |
void * | user_data |
pointer to user defined data specific to this object | |
FCL_REAL | cost_density |
collision cost for unit volume | |
FCL_REAL | threshold_occupied |
threshold for occupied ( >= is occupied) | |
FCL_REAL | threshold_free |
threshold for free (<= is free) | |
Additional Inherited Members | |
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virtual | ~ConvexBase () |
virtual ConvexBase * | clone () const |
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void | computeLocalAABB () |
Compute AABB. | |
NODE_TYPE | getNodeType () const |
Get node type: a conex polytope. | |
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ShapeBase () | |
ShapeBase (const ShapeBase &other) | |
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ShapeBase & | operator= (const ShapeBase &other)=default |
virtual | ~ShapeBase () |
OBJECT_TYPE | getObjectType () const |
Get object type: a geometric shape. | |
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CollisionGeometry () | |
CollisionGeometry (const CollisionGeometry &other)=default | |
Copy constructor. | |
virtual | ~CollisionGeometry () |
bool | operator== (const CollisionGeometry &other) const |
Equality operator. | |
bool | operator!= (const CollisionGeometry &other) const |
Difference operator. | |
void * | getUserData () const |
get user data in geometry | |
void | setUserData (void *data) |
set user data in geometry | |
bool | isOccupied () const |
whether the object is completely occupied | |
bool | isFree () const |
whether the object is completely free | |
bool | isUncertain () const |
whether the object has some uncertainty | |
virtual Vec3f | computeCOM () const |
compute center of mass | |
virtual Matrix3f | computeMomentofInertia () const |
compute the inertia matrix, related to the origin | |
virtual FCL_REAL | computeVolume () const |
compute the volume | |
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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ConvexBase () | |
Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. | |
void | initialize (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
Initialize the points of the convex shape This also initializes the ConvexBase::center. | |
void | set (bool ownStorage, Vec3f *points_, unsigned int num_points_) |
Set the points of the convex shape. | |
ConvexBase (const ConvexBase &other) | |
Copy constructor Only the list of neighbors is copied. | |
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unsigned int * | nneighbors_ |
bool | own_storage_ |
bool hpp::fcl::ConvexBase::own_storage_ |