Public Member Functions | Public Attributes | List of all members
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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Public Member Functions

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

Public Attributes

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

Detailed Description

Minkowski difference class of two shapes.

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

Constructor & Destructor Documentation

◆ MinkowskiDiff()

fcl::details::MinkowskiDiff::MinkowskiDiff ( )
inline

Member Function Documentation

◆ support() [1/4]

Vec3f fcl::details::MinkowskiDiff::support ( const Vec3f d) const
inline

◆ support() [2/4]

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().

◆ support() [3/4]

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().

◆ support() [4/4]

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().

◆ support0() [1/2]

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

support function for shape0

References fcl::details::getSupport().

Referenced by support().

◆ support0() [2/2]

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::details::getSupport().

◆ support1()

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

support function for shape1

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

Referenced by support().

Member Data Documentation

◆ shapes

const ShapeBase* fcl::details::MinkowskiDiff::shapes[2]

◆ toshape0

Transform3f fcl::details::MinkowskiDiff::toshape0

◆ toshape1

Matrix3f fcl::details::MinkowskiDiff::toshape1