#include <hpp/constraints/static-stability.hh>
|
| Triangle (const fcl::Vec3f &p0, const fcl::Vec3f &p1, const fcl::Vec3f &p2) |
| Represent a triangle. More...
|
|
| Triangle (const fcl::TriangleP &t) |
|
fcl::Vec3f | intersection (const fcl::Vec3f &A, const fcl::Vec3f &u) const |
| Intersection with a line defined by a point and a vector. More...
|
|
bool | isInside (const fcl::Vec3f &A, const fcl::Vec3f &u) const |
| Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle. More...
|
|
bool | isInside (const fcl::Vec3f &Ap) const |
|
value_type | distance (const fcl::Vec3f &A) const |
| Return the shortest distance from a point to the triangle. More...
|
|
const fcl::Vec3f & | planeXaxis () const |
|
const fcl::Vec3f & | planeYaxis () const |
|
const fcl::Vec3f & | normal () const |
|
const fcl::Vec3f & | center () const |
|
const fcl::Transform3f & | transformation () const |
|
◆ Triangle() [1/2]
hpp::constraints::Triangle::Triangle |
( |
const fcl::Vec3f & |
p0, |
|
|
const fcl::Vec3f & |
p1, |
|
|
const fcl::Vec3f & |
p2 |
|
) |
| |
|
inline |
◆ Triangle() [2/2]
hpp::constraints::Triangle::Triangle |
( |
const fcl::TriangleP & |
t | ) |
|
|
inline |
◆ center()
const fcl::Vec3f& hpp::constraints::Triangle::center |
( |
| ) |
const |
|
inline |
◆ distance()
value_type hpp::constraints::Triangle::distance |
( |
const fcl::Vec3f & |
A | ) |
const |
|
inline |
Return the shortest distance from a point to the triangle.
A negative value means the point is inside the triangle.
- Parameters
-
A | a point already in the plane containing the triangle. |
◆ intersection()
fcl::Vec3f hpp::constraints::Triangle::intersection |
( |
const fcl::Vec3f & |
A, |
|
|
const fcl::Vec3f & |
u |
|
) |
| const |
|
inline |
Intersection with a line defined by a point and a vector.
Referenced by isInside().
◆ isInside() [1/2]
bool hpp::constraints::Triangle::isInside |
( |
const fcl::Vec3f & |
A, |
|
|
const fcl::Vec3f & |
u |
|
) |
| const |
|
inline |
Check whether the intersection of the line defined by A and u onto the plane containing the triangle is inside the triangle.
References intersection().
◆ isInside() [2/2]
bool hpp::constraints::Triangle::isInside |
( |
const fcl::Vec3f & |
Ap | ) |
const |
|
inline |
◆ normal()
const fcl::Vec3f& hpp::constraints::Triangle::normal |
( |
| ) |
const |
|
inline |
◆ planeXaxis()
const fcl::Vec3f& hpp::constraints::Triangle::planeXaxis |
( |
| ) |
const |
|
inline |
◆ planeYaxis()
const fcl::Vec3f& hpp::constraints::Triangle::planeYaxis |
( |
| ) |
const |
|
inline |
◆ transformation()
const fcl::Transform3f& hpp::constraints::Triangle::transformation |
( |
| ) |
const |
|
inline |