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.

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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