39 #ifndef HPP_FCL_SHAPE_CONVEX_H 40 #define HPP_FCL_SHAPE_CONVEX_H 52 template <
typename PolygonT>
68 Vec3f* points_,
int num_points_,
69 PolygonT* polygons_,
int num_polygons_);
84 Matrix3f computeMomentofInertia()
const;
86 Vec3f computeCOM()
const;
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:75
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon...
Definition: convex.h:80
double FCL_REAL
Definition: data_types.h:69
int num_polygons
Definition: convex.h:81
Convex()
Construct an uninitialized convex object.
Definition: convex.h:57
Base for convex polytope.
Definition: geometric_shapes.h:281
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:74
Convex polytope.
Definition: convex.h:53
#define HPP_FCL_DLLAPI
Definition: config.hh:64