hpp-fcl  1.7.8
HPP fork of FCL -- The Flexible Collision Library
convex.h
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35 
39 #ifndef HPP_FCL_SHAPE_CONVEX_H
40 #define HPP_FCL_SHAPE_CONVEX_H
41 
43 
44 namespace hpp
45 {
46 namespace fcl
47 {
48 
52 template <typename PolygonT>
53 class Convex : public ConvexBase
54 {
55 public:
57  Convex () : ConvexBase(), polygons(NULL), num_polygons(0) {}
58 
67  Convex(bool ownStorage,
68  Vec3f* points_, int num_points_,
69  PolygonT* polygons_, int num_polygons_);
70 
73  Convex(const Convex& other);
74 
75  ~Convex();
76 
80  PolygonT* polygons;
82 
85 
86  Vec3f computeCOM() const;
87 
88  FCL_REAL computeVolume() const;
89 
90 protected:
91  void fillNeighbors();
92 };
93 
94 }
95 
96 } // namespace hpp
97 
99 
100 #endif
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:152
Main namespace.
Definition: AABB.h:43
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:68
void fillNeighbors()
Definition: convex.hxx:185
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:118
~Convex()
Definition: convex.hxx:73
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:66
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:355
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:79
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
Convex polytope.
Definition: convex.h:53