FCL  0.6.0 Flexible Collision Library
fcl::detail::MinkowskiDiff< S > Struct Template Reference

Minkowski difference class of two shapes. More...

`#include <minkowski_diff.h>`

## Public Member Functions

Vector3< S > support0 (const Vector3< S > &d) const
support function for shape0

Vector3< S > support1 (const Vector3< S > &d) const
support function for shape1

Vector3< S > support (const Vector3< S > &d) const
support function for the pair of shapes

Vector3< S > support (const Vector3< S > &d, size_t index) const
support function for the d-th shape (d = 0 or 1)

Vector3< S > support0 (const Vector3< S > &d, const Vector3< S > &v) const
support function for translating shape0, which is translating at velocity v

Vector3< S > support (const Vector3< S > &d, const Vector3< S > &v) const
support function for the pair of shapes, where shape0 is translating at velocity v

Vector3< S > support (const Vector3< S > &d, const Vector3< S > &v, size_t index) const
support function for the d-th shape (d = 0 or 1), where shape0 is translating at velocity v

## Public Attributes

const ShapeBase< S > * shapes [2]
points to two shapes

Matrix3< S > toshape1
rotation from shape0 to shape1

Transform3< S > toshape0
transform from shape1 to shape0

## Detailed Description

### template<typename S> struct fcl::detail::MinkowskiDiff< S >

Minkowski difference class of two shapes.

The documentation for this struct was generated from the following files:
• /home/js/dev/fcl/master/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff.h
• /home/js/dev/fcl/master/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h