Public Member Functions | Public Attributes
fcl::Capsule Class Reference

Center at zero point capsule. More...

#include <hpp/fcl/shape/geometric_shapes.h>

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List of all members.

Public Member Functions

 Capsule (FCL_REAL radius_, FCL_REAL lz_)
void computeLocalAABB ()
 Compute AABB.
NODE_TYPE getNodeType () const
 Get node type: a capsule.
FCL_REAL computeVolume () const
 compute the volume
Matrix3f computeMomentofInertia () const
 compute the inertia matrix, related to the origin

Public Attributes

FCL_REAL radius
 Radius of capsule.
FCL_REAL lz
 Length along z axis.

Detailed Description

Center at zero point capsule.


Constructor & Destructor Documentation

fcl::Capsule::Capsule ( FCL_REAL  radius_,
FCL_REAL  lz_ 
) [inline]

Member Function Documentation

void fcl::Capsule::computeLocalAABB ( ) [virtual]

Compute AABB.

Implements fcl::CollisionGeometry.

Matrix3f fcl::Capsule::computeMomentofInertia ( ) const [inline, virtual]

compute the inertia matrix, related to the origin

Reimplemented from fcl::CollisionGeometry.

References lz, and radius.

FCL_REAL fcl::Capsule::computeVolume ( ) const [inline, virtual]

compute the volume

Reimplemented from fcl::CollisionGeometry.

References lz, and radius.

NODE_TYPE fcl::Capsule::getNodeType ( ) const [inline, virtual]

Get node type: a capsule.

Reimplemented from fcl::CollisionGeometry.

References fcl::GEOM_CAPSULE.


Member Data Documentation

Length along z axis.

Referenced by computeMomentofInertia(), and computeVolume().

Radius of capsule.

Referenced by computeMomentofInertia(), and computeVolume().

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