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

Center at zero cone. More...

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

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List of all members.

Public Member Functions

 Cone (FCL_REAL radius_, FCL_REAL lz_)
void computeLocalAABB ()
 Compute AABB.
NODE_TYPE getNodeType () const
 Get node type: a cone.
FCL_REAL computeVolume () const
 compute the volume
Matrix3f computeMomentofInertia () const
 compute the inertia matrix, related to the origin
Vec3f computeCOM () const
 compute center of mass

Public Attributes

FCL_REAL radius
 Radius of the cone.
FCL_REAL lz
 Length along z axis.

Detailed Description

Center at zero cone.


Constructor & Destructor Documentation

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

Member Function Documentation

Vec3f fcl::Cone::computeCOM ( ) const [inline, virtual]

compute center of mass

Reimplemented from fcl::CollisionGeometry.

References lz.

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

Compute AABB.

Implements fcl::CollisionGeometry.

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

compute the inertia matrix, related to the origin

Reimplemented from fcl::CollisionGeometry.

References computeVolume(), lz, and radius.

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

compute the volume

Reimplemented from fcl::CollisionGeometry.

References lz, and radius.

Referenced by computeMomentofInertia().

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

Get node type: a cone.

Reimplemented from fcl::CollisionGeometry.

References fcl::GEOM_CONE.


Member Data Documentation

Radius of the cone.

Referenced by computeMomentofInertia(), computeVolume(), and fcl::generateBVHModel().

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