hpp-fcl
1.4.4
HPP fork of FCL -- The Flexible Collision Library
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39 #ifndef HPP_FCL_SHAPE_CONVEX_H
40 #define HPP_FCL_SHAPE_CONVEX_H
52 template <
typename PolygonT>
65 Vec3f* points_,
int num_points_,
66 PolygonT* polygons_,
int num_polygons_);
FCL_REAL computeVolume() const
compute the volume
Definition: convex.hxx:151
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:73
void fillNeighbors()
Definition: convex.hxx:184
Vec3f computeCOM() const
compute center of mass
Definition: convex.hxx:117
Convex polytope.
Definition: convex.h:53
double FCL_REAL
Definition: data_types.h:68
Main namespace.
Definition: AABB.h:43
int num_polygons
Definition: convex.h:78
Eigen::Matrix< FCL_REAL, 3, 3 > Matrix3f
Definition: data_types.h:74
Base for convex polytope.
Definition: geometric_shapes.h:281
~Convex()
Definition: convex.hxx:72
PolygonT * polygons
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon,...
Definition: convex.h:77
Matrix3f computeMomentofInertia() const
based on http://number-none.com/blow/inertia/bb_inertia.doc
Definition: convex.hxx:78
Convex(bool ownStorage, Vec3f *points_, int num_points_, PolygonT *polygons_, int num_polygons_)
Constructing a convex, providing normal and offset of each polytype surface, and the points and shape...
Definition: convex.hxx:50