#include <hpp/constraints/convex-shape.hh >
◆ ConvexShape() [1/4]
Represent a convex shape
Parameters
pts a sequence of points lying in a plane. The convex shape is obtained by connecting consecutive points (in a circular way)
Note There is no convexity check yet. The order is important: The normal is parallel to (pts[1] - pts[0]).cross (pts[2] - pts[1]) The normal to the segment in the plane are directed outward. (pts[i+1] - pts[i]).cross (normalToConvexShape)
◆ ConvexShape() [2/4]
hpp::constraints::ConvexShape::ConvexShape
(
const coal::TriangleP &
t ,
const JointPtr_t &
joint = JointPtr_t ()
)
inline
◆ ConvexShape() [3/4]
This constructor is required for compatibility with deprecated Triangle constructor.
◆ ConvexShape() [4/4]
hpp::constraints::ConvexShape::ConvexShape
(
const ConvexShape &
t )
inline
◆ distanceLocal()
Return the shortest distance from a point to the shape A negative value means the point is inside the shape
Parameters
a a point already in the plane containing the convex shape, and expressed in the local frame.
◆ intersectionLocal()
Intersection with a line defined by a point and a vector.
Parameters
A,u point and vector expressed in the local frame.
◆ isInsideLocal()
bool hpp::constraints::ConvexShape::isInsideLocal
(
const vector3_t &
Ap )
const
inline
As isInside but consider A as expressed in joint frame.
◆ operator!=()
bool hpp::constraints::ConvexShape::operator!=
(
ConvexShape const &
other )
const
inline
◆ operator==()
bool hpp::constraints::ConvexShape::operator==
(
ConvexShape const &
other )
const
inline
◆ planeXaxis()
const vector3_t & hpp::constraints::ConvexShape::planeXaxis
(
)
const
inline
Return the X axis of the plane in the joint frame.
◆ planeYaxis()
const vector3_t & hpp::constraints::ConvexShape::planeYaxis
(
)
const
inline
Return the Y axis of the plane in the joint frame The Y axis is aligned with
◆ positionInJoint()
const Transform3s & hpp::constraints::ConvexShape::positionInJoint
(
)
const
inline
Transform of the shape in the joint frame.
◆ reverse()
void hpp::constraints::ConvexShape::reverse
(
)
inline
◆ C_
the center in the joint frame. It is constant.
◆ joint_
◆ Ls_
vector_t hpp::constraints::ConvexShape::Ls_
◆ MinJoint_
◆ N_
the normal to the shape in the joint frame. It is constant.
◆ Ns_
std::vector<vector3_t > hpp::constraints::ConvexShape::Ns_
Ns_ and Us_ are unit vector, in the plane containing the shape, expressed in the joint frame. Ns_[i] is normal to edge i, pointing inside. Ns_[i] is a vector director of edge i.
◆ Pts_
std::vector<vector3_t > hpp::constraints::ConvexShape::Pts_
The points in the joint frame. It is constant.
◆ shapeDimension_
size_t hpp::constraints::ConvexShape::shapeDimension_
◆ Us_
std::vector<vector3_t > hpp::constraints::ConvexShape::Us_
The documentation for this class was generated from the following file: