the object for collision or distance computation, contains the geometry and the transform information More...
#include <collision_object.h>
Public Member Functions | |
| CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_) | |
| CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf) | |
| CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T) | |
| CollisionObject () | |
| void | computeAABB () |
| compute the AABB in world space | |
| const AABB & | getAABB () const |
| get the AABB in world space | |
| const CollisionGeometry * | getCollisionGeometry () const |
| get geometry from the object instance | |
| FCL_REAL | getCostDensity () const |
| get object's cost density | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| OBJECT_TYPE | getObjectType () const |
| get the type of the object | |
| const Quaternion3f & | getQuatRotation () const |
| get quaternion rotation of the object | |
| const Matrix3f & | getRotation () const |
| get matrix rotation of the object | |
| const Transform3f & | getTransform () const |
| get object's transform | |
| const Vec3f & | getTranslation () const |
| get translation of the object | |
| void * | getUserData () const |
| get user data in object | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isIdentityTransform () const |
| whether the object is in local coordinate | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isUncertain () const |
| whether the object is uncertain | |
| void | setCostDensity (FCL_REAL c) |
| set object's cost density | |
| void | setIdentityTransform () |
| set the object in local coordinate | |
| void | setQuatRotation (const Quaternion3f &q) |
| set object's quatenrion rotation | |
| void | setRotation (const Matrix3f &R) |
| set object's rotation matrix | |
| void | setTransform (const Matrix3f &R, const Vec3f &T) |
| set object's transform | |
| void | setTransform (const Quaternion3f &q, const Vec3f &T) |
| set object's transform | |
| void | setTransform (const Transform3f &tf) |
| set object's transform | |
| void | setTranslation (const Vec3f &T) |
| set object's translation | |
| void | setUserData (void *data) |
| set user data in object | |
| ~CollisionObject () | |
Protected Attributes | |
| AABB | aabb |
| AABB in global coordinate. | |
| boost::shared_ptr < CollisionGeometry > | cgeom |
| Transform3f | t |
| void * | user_data |
| pointer to user defined data specific to this object | |
the object for collision or distance computation, contains the geometry and the transform information
Definition at line 120 of file collision_object.h.
| fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_ | ) | [inline] |
Definition at line 123 of file collision_object.h.
| fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_, |
| const Transform3f & | tf | ||
| ) | [inline] |
Definition at line 129 of file collision_object.h.
| fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_, |
| const Matrix3f & | R, | ||
| const Vec3f & | T | ||
| ) | [inline] |
Definition at line 135 of file collision_object.h.
| fcl::CollisionObject::CollisionObject | ( | ) | [inline] |
Definition at line 142 of file collision_object.h.
| fcl::CollisionObject::~CollisionObject | ( | ) | [inline] |
Definition at line 146 of file collision_object.h.
| void fcl::CollisionObject::computeAABB | ( | ) | [inline] |
compute the AABB in world space
Definition at line 169 of file collision_object.h.
| const AABB& fcl::CollisionObject::getAABB | ( | ) | const [inline] |
get the AABB in world space
Definition at line 163 of file collision_object.h.
| const CollisionGeometry* fcl::CollisionObject::getCollisionGeometry | ( | ) | const [inline] |
get geometry from the object instance
Definition at line 269 of file collision_object.h.
| FCL_REAL fcl::CollisionObject::getCostDensity | ( | ) | const [inline] |
get object's cost density
Definition at line 275 of file collision_object.h.
| NODE_TYPE fcl::CollisionObject::getNodeType | ( | ) | const [inline] |
get the node type
Definition at line 157 of file collision_object.h.
| OBJECT_TYPE fcl::CollisionObject::getObjectType | ( | ) | const [inline] |
get the type of the object
Definition at line 151 of file collision_object.h.
| const Quaternion3f& fcl::CollisionObject::getQuatRotation | ( | ) | const [inline] |
get quaternion rotation of the object
Definition at line 209 of file collision_object.h.
| const Matrix3f& fcl::CollisionObject::getRotation | ( | ) | const [inline] |
get matrix rotation of the object
Definition at line 203 of file collision_object.h.
| const Transform3f& fcl::CollisionObject::getTransform | ( | ) | const [inline] |
get object's transform
Definition at line 215 of file collision_object.h.
| const Vec3f& fcl::CollisionObject::getTranslation | ( | ) | const [inline] |
get translation of the object
Definition at line 197 of file collision_object.h.
| void* fcl::CollisionObject::getUserData | ( | ) | const [inline] |
get user data in object
Definition at line 185 of file collision_object.h.
| bool fcl::CollisionObject::isFree | ( | ) | const [inline] |
whether the object is completely free
Definition at line 293 of file collision_object.h.
| bool fcl::CollisionObject::isIdentityTransform | ( | ) | const [inline] |
whether the object is in local coordinate
Definition at line 257 of file collision_object.h.
| bool fcl::CollisionObject::isOccupied | ( | ) | const [inline] |
whether the object is completely occupied
Definition at line 287 of file collision_object.h.
| bool fcl::CollisionObject::isUncertain | ( | ) | const [inline] |
whether the object is uncertain
Definition at line 299 of file collision_object.h.
| void fcl::CollisionObject::setCostDensity | ( | FCL_REAL | c | ) | [inline] |
set object's cost density
Definition at line 281 of file collision_object.h.
| void fcl::CollisionObject::setIdentityTransform | ( | ) | [inline] |
set the object in local coordinate
Definition at line 263 of file collision_object.h.
| void fcl::CollisionObject::setQuatRotation | ( | const Quaternion3f & | q | ) | [inline] |
set object's quatenrion rotation
Definition at line 233 of file collision_object.h.
| void fcl::CollisionObject::setRotation | ( | const Matrix3f & | R | ) | [inline] |
set object's rotation matrix
Definition at line 221 of file collision_object.h.
| void fcl::CollisionObject::setTransform | ( | const Matrix3f & | R, |
| const Vec3f & | T | ||
| ) | [inline] |
set object's transform
Definition at line 239 of file collision_object.h.
| void fcl::CollisionObject::setTransform | ( | const Quaternion3f & | q, |
| const Vec3f & | T | ||
| ) | [inline] |
set object's transform
Definition at line 245 of file collision_object.h.
| void fcl::CollisionObject::setTransform | ( | const Transform3f & | tf | ) | [inline] |
set object's transform
Definition at line 251 of file collision_object.h.
| void fcl::CollisionObject::setTranslation | ( | const Vec3f & | T | ) | [inline] |
set object's translation
Definition at line 227 of file collision_object.h.
| void fcl::CollisionObject::setUserData | ( | void * | data | ) | [inline] |
set user data in object
Definition at line 191 of file collision_object.h.
AABB fcl::CollisionObject::aabb [mutable, protected] |
AABB in global coordinate.
Definition at line 311 of file collision_object.h.
boost::shared_ptr<CollisionGeometry> fcl::CollisionObject::cgeom [protected] |
Definition at line 306 of file collision_object.h.
Transform3f fcl::CollisionObject::t [protected] |
Definition at line 308 of file collision_object.h.
void* fcl::CollisionObject::user_data [protected] |
pointer to user defined data specific to this object
Definition at line 314 of file collision_object.h.
