hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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Center at zero point sphere. More...
#include <hpp/fcl/shape/geometric_shapes.h>
Public Member Functions | |
Sphere () | |
Default constructor. | |
Sphere (FCL_REAL radius_) | |
Sphere (const Sphere &other) | |
virtual Sphere * | clone () const |
Clone *this into a new Sphere. | |
void | computeLocalAABB () |
Compute AABB. | |
NODE_TYPE | getNodeType () const |
Get node type: a sphere. | |
Matrix3f | computeMomentofInertia () const |
compute the inertia matrix, related to the origin | |
FCL_REAL | computeVolume () const |
compute the volume | |
FCL_REAL | minInflationValue () const |
std::pair< Sphere, Transform3f > | inflated (const FCL_REAL value) const |
Inflate the sphere by an amount given by value. | |
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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 | computeMomentofInertiaRelatedToCOM () const |
compute the inertia matrix, related to the com | |
Public Attributes | |
FCL_REAL | radius |
Radius of the sphere. | |
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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) | |
Center at zero point sphere.