Classes
class	hpp::fcl::TriangleP
	Triangle stores the points instead of only indices of points. More...

class	hpp::fcl::Box
	Center at zero point, axis aligned box. More...

class	hpp::fcl::Sphere
	Center at zero point sphere. More...

class	hpp::fcl::Capsule
	Capsule It is \( { x \in \mathcal{R}^3, d(x, AB) < radius } \) where \( d(x, AB) \) is the distance between the point x and the capsule segment AB, with \( A = (0,0,-halfLength), B = (0,0,halfLength) \). More...

class	hpp::fcl::Cone
	Cone The base of the cone is at \( z = - halfLength \) and the top is at \( z = halfLength \). More...

class	hpp::fcl::Cylinder
	Cylinder along Z axis. The cylinder is defined at its centroid. More...

struct	hpp::fcl::ConvexBase::Neighbors

class	hpp::fcl::ConvexBase
	Base for convex polytope. More...

class	hpp::fcl::Convex< PolygonT >
	Convex polytope. More...

class	hpp::fcl::Halfspace
	Half Space: this is equivalent to the Plane 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...

class	hpp::fcl::Plane
	Infinite plane. More...

Functions
	hpp::fcl::ShapeBase::ShapeBase ()

virtual	hpp::fcl::ShapeBase::~ShapeBase ()

OBJECT_TYPE	hpp::fcl::ShapeBase::getObjectType () const
	Get object type: a geometric shape. More...

	hpp::fcl::TriangleP::TriangleP (const Vec3f &a_, const Vec3f &b_, const Vec3f &c_)

void	hpp::fcl::TriangleP::computeLocalAABB ()
	virtual function of compute AABB in local coordinate More...

NODE_TYPE	hpp::fcl::TriangleP::getNodeType () const
	get the node type More...

	hpp::fcl::Box::Box (FCL_REAL x, FCL_REAL y, FCL_REAL z)

	hpp::fcl::Box::Box (const Vec3f &side_)

	hpp::fcl::Box::Box ()

void	hpp::fcl::Box::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Box::getNodeType () const
	Get node type: a box. More...

FCL_REAL	hpp::fcl::Box::computeVolume () const
	compute the volume More...

Matrix3f	hpp::fcl::Box::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

	hpp::fcl::Sphere::Sphere (FCL_REAL radius_)

void	hpp::fcl::Sphere::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Sphere::getNodeType () const
	Get node type: a sphere. More...

Matrix3f	hpp::fcl::Sphere::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

FCL_REAL	hpp::fcl::Sphere::computeVolume () const
	compute the volume More...

	hpp::fcl::Capsule::Capsule (FCL_REAL radius_, FCL_REAL lz_)

void	hpp::fcl::Capsule::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Capsule::getNodeType () const
	Get node type: a capsule. More...

FCL_REAL	hpp::fcl::Capsule::computeVolume () const
	compute the volume More...

Matrix3f	hpp::fcl::Capsule::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

	hpp::fcl::Cone::Cone (FCL_REAL radius_, FCL_REAL lz_)

void	hpp::fcl::Cone::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Cone::getNodeType () const
	Get node type: a cone. More...

FCL_REAL	hpp::fcl::Cone::computeVolume () const
	compute the volume More...

Matrix3f	hpp::fcl::Cone::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

Vec3f	hpp::fcl::Cone::computeCOM () const
	compute center of mass More...

	hpp::fcl::Cylinder::Cylinder (FCL_REAL radius_, FCL_REAL lz_)

void	hpp::fcl::Cylinder::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Cylinder::getNodeType () const
	Get node type: a cylinder. More...

FCL_REAL	hpp::fcl::Cylinder::computeVolume () const
	compute the volume More...

Matrix3f	hpp::fcl::Cylinder::computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...

static ConvexBase *	hpp::fcl::ConvexBase::convexHull (const Vec3f points, int num_points, bool keepTriangles, const char qhullCommand=NULL)
	Build a convex hull based on Qhull library and store the vertices and optionally the triangles. More...

virtual	hpp::fcl::ConvexBase::~ConvexBase ()

void	hpp::fcl::ConvexBase::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::ConvexBase::getNodeType () const
	Get node type: a conex polytope. More...

unsigned char const &	hpp::fcl::ConvexBase::Neighbors::count () const

unsigned int &	hpp::fcl::ConvexBase::Neighbors::operator[] (int i)

unsigned int const &	hpp::fcl::ConvexBase::Neighbors::operator[] (int i) const

	hpp::fcl::ConvexBase::ConvexBase ()
	Construct an uninitialized convex object Initialization is done with ConvexBase::initialize. More...

void	hpp::fcl::ConvexBase::initialize (bool ownStorage, Vec3f *points_, int num_points_)
	Initialize the points of the convex shape This also initializes the ConvexBase::center. More...

	hpp::fcl::ConvexBase::ConvexBase (const ConvexBase &other)
	Copy constructor Only the list of neighbors is copied. More...

	hpp::fcl::Halfspace::Halfspace (const Vec3f &n_, FCL_REAL d_)
	Construct a half space with normal direction and offset. More...

	hpp::fcl::Halfspace::Halfspace (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

	hpp::fcl::Halfspace::Halfspace ()

FCL_REAL	hpp::fcl::Halfspace::signedDistance (const Vec3f &p) const

FCL_REAL	hpp::fcl::Halfspace::distance (const Vec3f &p) const

void	hpp::fcl::Halfspace::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Halfspace::getNodeType () const
	Get node type: a half space. More...

void	hpp::fcl::Halfspace::unitNormalTest ()
	Turn non-unit normal into unit. More...

	hpp::fcl::Plane::Plane (const Vec3f &n_, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

	hpp::fcl::Plane::Plane (FCL_REAL a, FCL_REAL b, FCL_REAL c, FCL_REAL d_)
	Construct a plane with normal direction and offset. More...

	hpp::fcl::Plane::Plane ()

FCL_REAL	hpp::fcl::Plane::signedDistance (const Vec3f &p) const

FCL_REAL	hpp::fcl::Plane::distance (const Vec3f &p) const

void	hpp::fcl::Plane::computeLocalAABB ()
	Compute AABB. More...

NODE_TYPE	hpp::fcl::Plane::getNodeType () const
	Get node type: a plane. More...

void	hpp::fcl::Plane::unitNormalTest ()
	Turn non-unit normal into unit. More...

Variables
Vec3f	hpp::fcl::TriangleP::a

Vec3f	hpp::fcl::TriangleP::b

Vec3f	hpp::fcl::TriangleP::c

Vec3f	hpp::fcl::Box::halfSide
	box side half-length More...

FCL_REAL	hpp::fcl::Sphere::radius
	Radius of the sphere. More...

FCL_REAL	hpp::fcl::Capsule::radius
	Radius of capsule. More...

FCL_REAL	hpp::fcl::Capsule::halfLength
	Half Length along z axis. More...

FCL_REAL	hpp::fcl::Cone::radius
	Radius of the cone. More...

FCL_REAL	hpp::fcl::Cone::halfLength
	Half Length along z axis. More...

FCL_REAL	hpp::fcl::Cylinder::radius
	Radius of the cylinder. More...

FCL_REAL	hpp::fcl::Cylinder::halfLength
	Half Length along z axis. More...

Vec3f *	hpp::fcl::ConvexBase::points
	An array of the points of the polygon. More...

int	hpp::fcl::ConvexBase::num_points

unsigned char	hpp::fcl::ConvexBase::Neighbors::count_

unsigned int *	hpp::fcl::ConvexBase::Neighbors::n_

Neighbors *	hpp::fcl::ConvexBase::neighbors

Vec3f	hpp::fcl::ConvexBase::center
	center of the convex polytope, this is used for collision: center is guaranteed in the internal of the polytope (as it is convex) More...

unsigned int *	hpp::fcl::ConvexBase::nneighbors_

bool	hpp::fcl::ConvexBase::own_storage_

Vec3f	hpp::fcl::Halfspace::n
	Plane normal. More...

FCL_REAL	hpp::fcl::Halfspace::d
	Plane offset. More...

Vec3f	hpp::fcl::Plane::n
	Plane normal. More...

FCL_REAL	hpp::fcl::Plane::d
	Plane offset. More...

Detailed Description

Classes of different types of geometric shapes.

Function Documentation

◆ Box() [1/3]

hpp::fcl::Box::Box ( )

inline

◆ Box() [2/3]

hpp::fcl::Box::Box ( const Vec3f & side_ )

inline

◆ Box() [3/3]

hpp::fcl::Box::Box	(	FCL_REAL	x,
		FCL_REAL	y,
		FCL_REAL	z
	)

inline

◆ Capsule()

hpp::fcl::Capsule::Capsule	(	FCL_REAL	radius_,
		FCL_REAL	lz_
	)

inline

◆ computeCOM()

Vec3f hpp::fcl::Cone::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented from hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [1/9]

void hpp::fcl::TriangleP::computeLocalAABB ( )

virtual

virtual function of compute AABB in local coordinate

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [2/9]

void hpp::fcl::Box::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [3/9]

void hpp::fcl::Sphere::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [4/9]

void hpp::fcl::Capsule::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [5/9]

void hpp::fcl::Cone::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [6/9]

void hpp::fcl::Cylinder::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [7/9]

void hpp::fcl::ConvexBase::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [8/9]

void hpp::fcl::Halfspace::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.

◆ computeLocalAABB() [9/9]

void hpp::fcl::Plane::computeLocalAABB ( )

virtual

Compute AABB.

Implements hpp::fcl::CollisionGeometry.