FCL  0.6.0
Flexible Collision Library
fcl::Sphere< S_ > Class Template Reference

Center at zero point sphere. More...

#include <sphere.h>

Inheritance diagram for fcl::Sphere< S_ >:
fcl::ShapeBase< S_ > fcl::CollisionGeometry< S_ >

Public Types

using S = S_
- Public Types inherited from fcl::ShapeBase< S_ >
using S = S_

Public Member Functions

 Sphere (S radius)
void computeLocalAABB () override
 Compute AABB<S>
NODE_TYPE getNodeType () const override
 Get node type: a sphere.
Matrix3< S > computeMomentofInertia () const override
 compute the inertia matrix, related to the origin
computeVolume () const override
 compute the volume
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
- 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_ > computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com

Public Attributes

 Radius of the sphere.
- 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)

Detailed Description

template<typename S_>
class fcl::Sphere< S_ >

Center at zero point sphere.

The documentation for this class was generated from the following files: