FCL  0.6.0
Flexible Collision Library
fcl::CollisionObject< S > Class Template Reference

the object for collision or distance computation, contains the geometry and the transform information More...

#include <collision_object.h>

Inheritance diagram for fcl::CollisionObject< S >:
fcl::DummyCollisionObject< S >

Public Member Functions

 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom)
 
 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom, const Transform3< S > &tf)
 
 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom, const Matrix3< S > &R, const Vector3< S > &T)
 
OBJECT_TYPE getObjectType () const
 get the type of the object
 
NODE_TYPE getNodeType () const
 get the node type
 
const AABB< S > & getAABB () const
 get the AABB in world space
 
void computeAABB ()
 compute the AABB in world space
 
void * getUserData () const
 get user data in object
 
void setUserData (void *data)
 set user data in object
 
const Vector3< S > getTranslation () const
 get translation of the object
 
const Matrix3< S > getRotation () const
 get matrix rotation of the object
 
const Quaternion< S > getQuatRotation () const
 get quaternion rotation of the object
 
const Transform3< S > & getTransform () const
 get object's transform
 
void setRotation (const Matrix3< S > &R)
 set object's rotation matrix
 
void setTranslation (const Vector3< S > &T)
 set object's translation
 
void setQuatRotation (const Quaternion< S > &q)
 set object's quatenrion rotation
 
void setTransform (const Matrix3< S > &R, const Vector3< S > &T)
 set object's transform
 
void setTransform (const Quaternion< S > &q, const Vector3< S > &T)
 set object's transform
 
void setTransform (const Transform3< S > &tf)
 set object's transform
 
bool isIdentityTransform () const
 whether the object is in local coordinate
 
void setIdentityTransform ()
 set the object in local coordinate
 
FCL_DEPRECATED const CollisionGeometry< S > * getCollisionGeometry () const
 get geometry from the object instance
 
const std::shared_ptr< const CollisionGeometry< S > > & collisionGeometry () const
 get geometry from the object instance
 
getCostDensity () const
 get object's cost density
 
void setCostDensity (S c)
 set object's cost density
 
bool isOccupied () const
 whether the object is completely occupied
 
bool isFree () const
 whether the object is completely free
 
bool isUncertain () const
 whether the object is uncertain
 

Protected Attributes

std::shared_ptr< CollisionGeometry< S > > cgeom
 
std::shared_ptr< const CollisionGeometry< S > > cgeom_const
 
Transform3< S > t
 
AABB< S > aabb
 AABB<S> in global coordinate.
 
void * user_data
 pointer to user defined data specific to this object
 

Detailed Description

template<typename S>
class fcl::CollisionObject< S >

the object for collision or distance computation, contains the geometry and the transform information


The documentation for this class was generated from the following files: