Convex polytope.
More...
#include <hpp/fcl/shape/convex.h>
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| Convex () |
| Construct an uninitialized convex object. More...
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| Convex (bool ownStorage, Vec3f *points_, unsigned int num_points_, PolygonT *polygons_, unsigned int num_polygons_) |
| Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information. More...
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| Convex (const Convex &other) |
| Copy constructor Only the list of neighbors is copied. More...
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| ~Convex () |
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Matrix3f | computeMomentofInertia () const |
| based on http://number-none.com/blow/inertia/bb_inertia.doc More...
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Vec3f | computeCOM () const |
| compute center of mass More...
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FCL_REAL | computeVolume () const |
| compute the volume More...
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void | set (bool ownStorage, Vec3f *points_, unsigned int num_points_, PolygonT *polygons_, unsigned int num_polygons_) |
| Set the current Convex from a list of points and polygons. More...
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virtual | ~ConvexBase () |
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virtual ConvexBase * | clone () const |
| More...
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void | computeLocalAABB () |
| Compute AABB. More...
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NODE_TYPE | getNodeType () const |
| Get node type: a conex polytope. More...
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| ShapeBase () |
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| ShapeBase (const ShapeBase &other) |
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virtual | ~ShapeBase () |
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OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. More...
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| CollisionGeometry () |
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| CollisionGeometry (const CollisionGeometry &other) |
| Copy constructor. More...
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virtual | ~CollisionGeometry () |
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bool | operator== (const CollisionGeometry &other) const |
| Equality operator. More...
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bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. More...
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void * | getUserData () const |
| get user data in geometry More...
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void | setUserData (void *data) |
| set user data in geometry More...
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bool | isOccupied () const |
| whether the object is completely occupied More...
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bool | isFree () const |
| whether the object is completely free More...
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bool | isUncertain () const |
| whether the object has some uncertainty More...
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virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More...
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template<typename PolygonT>
class hpp::fcl::Convex< PolygonT >
Convex polytope.
- Template Parameters
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PolygonT | the polygon class. It must have method size() and operator[](int i) |
◆ Convex() [1/3]
template<typename PolygonT >
Construct an uninitialized convex object.
◆ Convex() [2/3]
template<typename PolygonT >
hpp::fcl::Convex< PolygonT >::Convex |
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bool |
ownStorage, |
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Vec3f * |
points_, |
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unsigned int |
num_points_, |
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PolygonT * |
polygons_, |
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unsigned int |
num_polygons_ |
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Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information.
- Parameters
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ownStorage | whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction. |
points_ | list of 3D points |
num_points_ | number of 3D points |
polygons_ | An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. |
num_polygons_ | the number of polygons. |
- Note
- num_polygons_ is not the allocated size of polygons_.
◆ Convex() [3/3]
template<typename PolygonT >
Copy constructor Only the list of neighbors is copied.
◆ ~Convex()
template<typename PolygonT >
◆ computeCOM()
template<typename PolygonT >
◆ computeMomentofInertia()
template<typename PolygonT >
◆ computeVolume()
template<typename PolygonT >
◆ fillNeighbors()
template<typename PolygonT >
◆ set()
template<typename PolygonT >
void hpp::fcl::Convex< PolygonT >::set |
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bool |
ownStorage, |
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Vec3f * |
points_, |
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unsigned int |
num_points_, |
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PolygonT * |
polygons_, |
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unsigned int |
num_polygons_ |
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) |
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Set the current Convex from a list of points and polygons.
- Parameters
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ownStorage | whether this class owns the pointers of points and polygons. If owned, they are deleted upon destruction. |
points_ | list of 3D points |
num_points_ | number of 3D points |
polygons_ | An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order. |
num_polygons_ | the number of polygons. |
- Note
- num_polygons_ is not the allocated size of polygons_.
◆ num_polygons
template<typename PolygonT >
◆ polygons
template<typename PolygonT >
An array of PolygonT object. PolygonT should contains a list of vertices for each polygon, in counter clockwise order.
The documentation for this class was generated from the following files: