collision_object.h

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#ifndef FCL_COLLISION_OBJECT_H
#define FCL_COLLISION_OBJECT_H

#include <memory>

#include "fcl/geometry/collision_geometry.h"

namespace fcl
{

template <typename S>
class CollisionObject
{
public:
  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);

  ~CollisionObject();

  OBJECT_TYPE getObjectType() const;

  NODE_TYPE getNodeType() const;

  const AABB<S>& getAABB() const;

  void computeAABB();

  void* getUserData() const;

  void setUserData(void *data);

  const Vector3<S> getTranslation() const;

  const Matrix3<S> getRotation() const;

  const Quaternion<S> getQuatRotation() const;

  const Transform3<S>& getTransform() const;

  void setRotation(const Matrix3<S>& R);

  void setTranslation(const Vector3<S>& T);

  void setQuatRotation(const Quaternion<S>& q);

  void setTransform(const Matrix3<S>& R, const Vector3<S>& T);

  void setTransform(const Quaternion<S>& q, const Vector3<S>& T);

  void setTransform(const Transform3<S>& tf);

  bool isIdentityTransform() const;

  void setIdentityTransform();

  FCL_DEPRECATED
  const CollisionGeometry<S>* getCollisionGeometry() const;

  const std::shared_ptr<const CollisionGeometry<S>>& collisionGeometry() const;

  S getCostDensity() const;

  void setCostDensity(S c);

  bool isOccupied() const;

  bool isFree() const;

  bool isUncertain() const;

protected:

  std::shared_ptr<CollisionGeometry<S>> cgeom;
  std::shared_ptr<const CollisionGeometry<S>> cgeom_const;

  Transform3<S> t;

  mutable AABB<S> aabb;

  void *user_data;

public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

using CollisionObjectf = CollisionObject<float>;
using CollisionObjectd = CollisionObject<double>;

} // namespace fcl

#include "fcl/narrowphase/collision_object-inl.h"

#endif