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 >:

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
S	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

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

• /home/js/dev/fcl/master/include/fcl/narrowphase/collision_object.h
• /home/js/dev/fcl/master/include/fcl/narrowphase/collision_object-inl.h