.. _program_listing_file_include_coal_shape_convex.h:

Program Listing for File convex.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_coal_shape_convex.h>` (``include/coal/shape/convex.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
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    *  Copyright (c) 2011-2014, Willow Garage, Inc.
    *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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   #ifndef COAL_SHAPE_CONVEX_H
   #define COAL_SHAPE_CONVEX_H
   
   #include "coal/shape/geometric_shapes.h"
   
   namespace coal {
   
   template <typename PolygonT>
   class Convex : public ConvexBase {
    public:
     Convex() : ConvexBase(), num_polygons(0) {}
   
     Convex(std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_,
            std::shared_ptr<std::vector<PolygonT>> polygons_,
            unsigned int num_polygons_);
   
     Convex(const Convex& other);
   
     ~Convex();
   
     Matrix3s computeMomentofInertia() const;
   
     Vec3s computeCOM() const;
   
     Scalar computeVolume() const;
   
     void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points,
              std::shared_ptr<std::vector<PolygonT>> polygons,
              unsigned int num_polygons);
   
     virtual Convex<PolygonT>* clone() const;
   
     std::shared_ptr<std::vector<PolygonT>> polygons;
     unsigned int num_polygons;
   
    protected:
     void fillNeighbors();
   };
   
   }  // namespace coal
   
   #include "coal/shape/details/convex.hxx"
   
   #endif