Public Member Functions | Public Attributes
fcl::details::MinkowskiDiff Struct Reference

Minkowski difference class of two shapes. More...

#include <hpp/fcl/narrowphase/gjk.h>

Collaboration diagram for fcl::details::MinkowskiDiff:
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List of all members.

Public Member Functions

 MinkowskiDiff ()
Vec3f support0 (const Vec3f &d) const
 support function for shape0
Vec3f support1 (const Vec3f &d) const
 support function for shape1
Vec3f support (const Vec3f &d) const
 support function for the pair of shapes
Vec3f support (const Vec3f &d, size_t index) const
 support function for the d-th shape (d = 0 or 1)
Vec3f support0 (const Vec3f &d, const Vec3f &v) const
 support function for translating shape0, which is translating at velocity v
Vec3f support (const Vec3f &d, const Vec3f &v) const
 support function for the pair of shapes, where shape0 is translating at velocity v
Vec3f support (const Vec3f &d, const Vec3f &v, size_t index) const
 support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v

Public Attributes

const ShapeBaseshapes [2]
 points to two shapes
Matrix3f toshape1
 rotation from shape0 to shape1
Transform3f toshape0
 transform from shape1 to shape0

Detailed Description

Minkowski difference class of two shapes.

Note:
The Minkowski difference is expressed in the frame of the first shape.

Constructor & Destructor Documentation

fcl::details::MinkowskiDiff::MinkowskiDiff ( ) [inline]

Member Function Documentation

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f d) const [inline]
Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f d,
size_t  index 
) const [inline]

support function for the d-th shape (d = 0 or 1)

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f d,
const Vec3f v 
) const [inline]

support function for the pair of shapes, where shape0 is translating at velocity v

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f d,
const Vec3f v,
size_t  index 
) const [inline]

support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v

References support0(), and support1().

Vec3f fcl::details::MinkowskiDiff::support0 ( const Vec3f d) const [inline]

support function for shape0

References fcl::details::getSupport(), and shapes.

Referenced by support().

Vec3f fcl::details::MinkowskiDiff::support0 ( const Vec3f d,
const Vec3f v 
) const [inline]

support function for translating shape0, which is translating at velocity v

References fcl::Vec3fX< T >::dot(), fcl::details::getSupport(), shapes, and v.

Vec3f fcl::details::MinkowskiDiff::support1 ( const Vec3f d) const [inline]

support function for shape1

References fcl::details::getSupport(), shapes, toshape0, toshape1, and fcl::Transform3f::transform().

Referenced by support().


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