FCL  0.6.0
Flexible Collision Library
ellipsoid.h
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35 
38 #ifndef FCL_SHAPE_ELLIPSOID_H
39 #define FCL_SHAPE_ELLIPSOID_H
40 
41 #include "fcl/geometry/shape/shape_base.h"
42 
43 namespace fcl
44 {
45 
47 template <typename S_>
48 class Ellipsoid : public ShapeBase<S_>
49 {
50 public:
51 
52  using S = S_;
53 
55  Ellipsoid(S a, S b, S c);
56 
58  Ellipsoid(const Vector3<S>& radii);
59 
61  Vector3<S> radii;
62 
64  void computeLocalAABB() override;
65 
67  NODE_TYPE getNodeType() const override;
68 
69  // Documentation inherited
70  Matrix3<S> computeMomentofInertia() const override;
71 
72  // Documentation inherited
73  S computeVolume() const override;
74 
77  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;
78 };
79 
82 
83 } // namespace fcl
84 
85 #include "fcl/geometry/shape/ellipsoid-inl.h"
86 
87 #endif
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone, cylinder, convex, plane, halfspace, triangle), and octree
Definition: collision_geometry.h:54
std::vector< Vector3< S > > getBoundVertices(const Transform3< S > &tf) const
get the vertices of some convex shape which can bound this shape in a specific configuration ...
Definition: ellipsoid-inl.h:107
Matrix3< S > computeMomentofInertia() const override
compute the inertia matrix, related to the origin
Definition: ellipsoid-inl.h:86
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
Base class for all basic geometric shapes.
Definition: shape_base.h:48
void computeLocalAABB() override
Compute AABB.
Definition: ellipsoid-inl.h:68
NODE_TYPE getNodeType() const override
Get node type: a sphere.
Definition: ellipsoid-inl.h:79
Center at zero point ellipsoid.
Definition: ellipsoid.h:48
S computeVolume() const override
compute the volume
Definition: ellipsoid-inl.h:99
Ellipsoid(S a, S b, S c)
Constructor.
Definition: ellipsoid-inl.h:52
Vector3< S > radii
Radii of the ellipsoid.
Definition: ellipsoid.h:61