SurgSim::Math::TriangleCapsuleContactCalculation Namespace Reference

Classes
class	TriangleCapsuleContactCalculation
	Class used to find the intersection between a triangle and a capsule. More...

Functions
template<class T , int MOpt>
Eigen::Matrix< T, 3, 1, MOpt >	pointWithTangentOnEllipse (const Eigen::Matrix< T, 3, 1, MOpt > &center, const Eigen::Matrix< T, 3, 1, MOpt > &majorAxis, const Eigen::Matrix< T, 3, 1, MOpt > &minorAxis, const double majorRadius, const double minorRadius, const Eigen::Matrix< T, 3, 1, MOpt > &tangent)
	Find the point on (positive X side of) ellipse parallel to the given tangent. More...

Function Documentation

pointWithTangentOnEllipse()

template<class T , int MOpt>

Eigen::Matrix<T, 3, 1, MOpt> SurgSim::Math::TriangleCapsuleContactCalculation::pointWithTangentOnEllipse	(	const Eigen::Matrix< T, 3, 1, MOpt > &	center,
		const Eigen::Matrix< T, 3, 1, MOpt > &	majorAxis,
		const Eigen::Matrix< T, 3, 1, MOpt > &	minorAxis,
		const double	majorRadius,
		const double	minorRadius,
		const Eigen::Matrix< T, 3, 1, MOpt > &	tangent
	)

Find the point on (positive X side of) ellipse parallel to the given tangent.

Template Parameters

T	Accuracy of the calculation, can usually be inferred.
MOpt	Eigen Matrix options, can usually be inferred.

Parameters

tangent	The given tangent to this ellipse, whose corresponding point is to be found
center	Center of the ellipse.
majorAxis,minorAxis	The major/minor axes of the ellipse, both of unit length
majorRadius,minorRadius	Major/minor radii of the ellipse

Note

majorAxis and minorAxis are assumed to be orthogonal to each other.

Returns

The point on the ellipse (in positive x direction) which has the given tangent.