FCL  0.6.0
Flexible Collision Library
Public Member Functions | Protected Attributes | List of all members
fcl::ContinuousCollisionObject< S > Class Template Reference

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

#include <continuous_collision_object.h>

Public Member Functions

 ContinuousCollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom)
 
 ContinuousCollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom, const std::shared_ptr< MotionBase< S >> &motion)
 
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<S> in the world space for the motion
 
void computeAABB ()
 compute the AABB<S> in the world space for the motion
 
void * getUserData () const
 get user data in object
 
void setUserData (void *data)
 set user data in object
 
MotionBase< S > * getMotion () const
 get motion from the object instance
 
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
 

Protected Attributes

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

Detailed Description

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

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

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