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| | HeightField () |
| | Constructing an empty HeightField. More...
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| | HeightField (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height=(FCL_REAL) 0) |
| | Constructing an HeightField from its base dimensions and the set of heights points. The granularity of the height field along X and Y direction is extraded from the Z grid. More...
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| | HeightField (const HeightField &other) |
| | Copy contructor from another HeightField. More...
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| const VecXf & | getXGrid () const |
| | Returns a const reference of the grid along the X direction. More...
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| const VecXf & | getYGrid () const |
| | Returns a const reference of the grid along the Y direction. More...
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| const MatrixXf & | getHeights () const |
| | Returns a const reference of the heights. More...
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| FCL_REAL | getXDim () const |
| | Returns the dimension of the Height Field along the X direction. More...
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| FCL_REAL | getYDim () const |
| | Returns the dimension of the Height Field along the Y direction. More...
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| FCL_REAL | getMinHeight () const |
| | Returns the minimal height value of the Height Field. More...
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| FCL_REAL | getMaxHeight () const |
| | Returns the maximal height value of the Height Field. More...
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| virtual HeightField< BV > * | clone () const |
| | Clone *this into a new CollisionGeometry. More...
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| virtual | ~HeightField () |
| | deconstruction, delete mesh data related. More...
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| void | computeLocalAABB () |
| | Compute the AABB for the HeightField, used for broad-phase collision. More...
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| bool | operator== (const HeightField &other) const |
| | Comparison operators. More...
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| bool | operator!= (const HeightField &other) const |
| | Difference operator. More...
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| void | updateHeights (const MatrixXf &new_heights) |
| | Update Height Field height. More...
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| const HFNode< BV > & | getBV (unsigned int i) const |
| | Access the bv giving the its index. More...
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| HFNode< BV > & | getBV (unsigned int i) |
| | Access the bv giving the its index. More...
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| NODE_TYPE | getNodeType () const |
| | Get the BV type: default is unknown. More...
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| NODE_TYPE | getNodeType () const |
| | Specialization of getNodeType() for HeightField with different BV types. More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| NODE_TYPE | getNodeType () const |
| | get the node type More...
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| | CollisionGeometry () |
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| | CollisionGeometry (const CollisionGeometry &other) |
| | Copy constructor. More...
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| virtual | ~CollisionGeometry () |
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| bool | operator== (const CollisionGeometry &other) const |
| | Equality operator. More...
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| bool | operator!= (const CollisionGeometry &other) const |
| | Difference operator. More...
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| void * | getUserData () const |
| | get user data in geometry More...
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| void | setUserData (void *data) |
| | set user data in geometry More...
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| bool | isOccupied () const |
| | whether the object is completely occupied More...
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| bool | isFree () const |
| | whether the object is completely free More...
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| bool | isUncertain () const |
| | whether the object has some uncertainty More...
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| virtual Matrix3f | computeMomentofInertiaRelatedToCOM () const |
| | compute the inertia matrix, related to the com More...
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| Vec3f | aabb_center |
| | AABB center in local coordinate. More...
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| FCL_REAL | aabb_radius |
| | AABB radius. More...
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| AABB | aabb_local |
| | AABB in local coordinate, used for tight AABB when only translation transform. More...
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| void * | user_data |
| | pointer to user defined data specific to this object More...
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| FCL_REAL | cost_density |
| | collision cost for unit volume More...
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| FCL_REAL | threshold_occupied |
| | threshold for occupied ( >= is occupied) More...
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| FCL_REAL | threshold_free |
| | threshold for free (<= is free) More...
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| void | init (const FCL_REAL x_dim, const FCL_REAL y_dim, const MatrixXf &heights, const FCL_REAL min_height) |
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| OBJECT_TYPE | getObjectType () const |
| | Get the object type: it is a HFIELD. More...
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| Vec3f | computeCOM () const |
| | compute center of mass More...
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| FCL_REAL | computeVolume () const |
| | compute the volume More...
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| Matrix3f | computeMomentofInertia () const |
| | compute the inertia matrix, related to the origin More...
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| int | buildTree () |
| | Build the bounding volume hierarchy. More...
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| FCL_REAL | recursiveUpdateHeight (const size_t bv_id) |
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| FCL_REAL | recursiveBuildTree (const size_t bv_id, const Eigen::DenseIndex x_id, const Eigen::DenseIndex x_size, const Eigen::DenseIndex y_id, const Eigen::DenseIndex y_size) |
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| FCL_REAL | x_dim |
| | Dimensions in meters along X and Y directions. More...
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| FCL_REAL | y_dim |
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| MatrixXf | heights |
| | Elevation values in meters of the Height Field. More...
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| FCL_REAL | min_height |
| | Minimal height of the Height Field: all values bellow min_height will be discarded. More...
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| FCL_REAL | max_height |
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| VecXf | x_grid |
| | Grids along the X and Y directions. Useful for plotting or other related things. More...
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| VecXf | y_grid |
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| BVS | bvs |
| | Bounding volume hierarchy. More...
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| unsigned int | num_bvs |
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