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FCL
0.6.0
Flexible Collision Library
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FCL
0.6.0
Flexible Collision Library
|
Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space. More...
#include <halfspace.h>
Public Types | |
| using | S = S_ |
 Public Types inherited from fcl::ShapeBase< S_ > | |
| using | S = S_ |
Public Member Functions | |
| Halfspace (const Vector3< S > &n, S d) | |
| Construct a half space with normal direction and offset. | |
| Halfspace (S a, S b, S c, S d_) | |
| Construct a plane with normal direction and offset. | |
| S | signedDistance (const Vector3< S > &p) const |
| S | distance (const Vector3< S > &p) const |
| void | computeLocalAABB () override |
| Compute AABB. | |
| NODE_TYPE | getNodeType () const override |
| Get node type: a half space. | |
| Public Member Functions inherited from fcl::ShapeBase< S_ > | |
| OBJECT_TYPE | getObjectType () const |
| Get object type: a geometric shape. | |
| Public Member Functions inherited from fcl::CollisionGeometry< S_ > | |
| void * | getUserData () const |
| get user data in geometry | |
| void | setUserData (void *data) |
| set user data in geometry | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isUncertain () const |
| whether the object has some uncertainty | |
| virtual Vector3< S_ > | computeCOM () const |
| compute center of mass | |
| virtual Matrix3< S_ > | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin | |
| virtual S_ | computeVolume () const |
| compute the volume | |
| virtual Matrix3< S_ > | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com | |
Public Attributes | |
| Vector3< S > | n |
| Planed normal. | |
| S | d |
| Planed offset. | |
| Public Attributes inherited from fcl::CollisionGeometry< S_ > | |
| Vector3< S_ > | aabb_center |
| AABB center in local coordinate. | |
| S_ | aabb_radius |
| AABB radius. | |
| AABB< S_ > | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. | |
| void * | user_data |
| pointer to user defined data specific to this object | |
| S_ | cost_density |
| collision cost for unit volume | |
| S_ | threshold_occupied |
| threshold for occupied ( >= is occupied) | |
| S_ | threshold_free |
| threshold for free (<= is free) | |
Protected Member Functions | |
| void | unitNormalTest () |
| Turn non-unit normal into unit. | |
Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d; Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space.
1.8.11 
