Add Ellipsoid #259
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Add Ellipsoid #259
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…lasses for now. TODO: add tests for ellipsoids.
Ellipsoids support
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I will merge it as there is no conflict with the existing work. |
jmirabel
reviewed
Feb 16, 2022
| @@ -381,6 +397,10 @@ MinkowskiDiff::GetSupportFunction makeGetSupportFunction1 (const ShapeBase* s1, | |||
| inflation[1] = static_cast<const Sphere*>(s1)->radius; | |||
| if (identity) return getSupportFuncTpl<Shape0, Sphere, true >; | |||
| else return getSupportFuncTpl<Shape0, Sphere, false>; | |||
| case GEOM_ELLIPSOID: | |||
| // TODO: what should we put for inflation[1]? | |||
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It should be 0 since the support function returns a point on the shape. I think it is initialized to 0.
jmirabel
reviewed
Feb 16, 2022
| @@ -421,6 +441,10 @@ MinkowskiDiff::GetSupportFunction makeGetSupportFunction0 (const ShapeBase* s0, | |||
| inflation[0] = static_cast<const Sphere*>(s0)->radius; | |||
| return makeGetSupportFunction1<Sphere> (s1, identity, inflation, linear_log_convex_threshold); | |||
| break; | |||
| case GEOM_ELLIPSOID: | |||
| // TODO: what should we put for inflation[0]? | |||
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This PR done by @lmontaut introduces the class Ellipsoid, which can be further used for external applications.