The geometry for the object for collision or distance computation. More...
#include <collision_geometry.h>
Public Member Functions | |
| CollisionGeometry () | |
| virtual Vector3< S > | computeCOM () const |
| compute center of mass More... | |
| virtual void | computeLocalAABB ()=0 |
| compute the AABB for object in local coordinate More... | |
| virtual Matrix3< S > | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin More... | |
| virtual Matrix3< S > | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com More... | |
| virtual S | computeVolume () const |
| compute the volume More... | |
| virtual NODE_TYPE | getNodeType () const |
| get the node type More... | |
| virtual OBJECT_TYPE | getObjectType () const |
| get the type of the object More... | |
| void * | getUserData () const |
| get user data in geometry More... | |
| bool | isFree () const |
| whether the object is completely free More... | |
| bool | isOccupied () const |
| whether the object is completely occupied More... | |
| bool | isUncertain () const |
| whether the object has some uncertainty More... | |
| void | setUserData (void *data) |
| set user data in geometry More... | |
| virtual | ~CollisionGeometry () |
Public Attributes | |
| Vector3< S > | aabb_center |
| AABB center in local coordinate. More... | |
| AABB< S > | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. More... | |
| S | aabb_radius |
| AABB radius. More... | |
| S | cost_density |
| collision cost for unit volume More... | |
| S | threshold_free |
| threshold for free (<= is free) More... | |
| S | threshold_occupied |
| threshold for occupied ( >= is occupied) More... | |
| void * | user_data |
| pointer to user defined data specific to this object More... | |
Detailed Description
template<typename S>
class fcl::CollisionGeometry< S >
The geometry for the object for collision or distance computation.
Definition at line 58 of file collision_geometry.h.
Constructor & Destructor Documentation
◆ CollisionGeometry()
| fcl::CollisionGeometry< S >::CollisionGeometry |
Definition at line 52 of file collision_geometry-inl.h.
◆ ~CollisionGeometry()
|
virtual |
Definition at line 65 of file collision_geometry-inl.h.
Member Function Documentation
◆ computeCOM()
|
virtual |
compute center of mass
Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.
Definition at line 121 of file collision_geometry-inl.h.
◆ computeLocalAABB()
|
pure virtual |
compute the AABB for object in local coordinate
Implemented in fcl::Convex< S_ >, fcl::Convex< S >, fcl::BVHModel< BV >, fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, fcl::BVHModel< OBB< S > >, fcl::Halfspace< S_ >, fcl::Box< S_ >, fcl::Plane< S_ >, fcl::Capsule< S_ >, fcl::Cylinder< S_ >, fcl::Ellipsoid< S_ >, fcl::Capsule< S >, fcl::Cone< S_ >, fcl::Sphere< S_ >, and fcl::TriangleP< S_ >.
◆ computeMomentofInertia()
|
virtual |
compute the inertia matrix, related to the origin
Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.
Definition at line 128 of file collision_geometry-inl.h.
◆ computeMomentofInertiaRelatedToCOM()
|
virtual |
compute the inertia matrix, related to the com
Definition at line 142 of file collision_geometry-inl.h.
◆ computeVolume()
|
virtual |
compute the volume
Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.
Definition at line 135 of file collision_geometry-inl.h.
◆ getNodeType()
|
virtual |
get the node type
Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.
Definition at line 79 of file collision_geometry-inl.h.
◆ getObjectType()
|
virtual |
get the type of the object
Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.
Definition at line 72 of file collision_geometry-inl.h.
◆ getUserData()
| void * fcl::CollisionGeometry< S >::getUserData |
get user data in geometry
Definition at line 86 of file collision_geometry-inl.h.
◆ isFree()
| bool fcl::CollisionGeometry< S >::isFree |
whether the object is completely free
Definition at line 107 of file collision_geometry-inl.h.
◆ isOccupied()
| bool fcl::CollisionGeometry< S >::isOccupied |
whether the object is completely occupied
Definition at line 100 of file collision_geometry-inl.h.
◆ isUncertain()
| bool fcl::CollisionGeometry< S >::isUncertain |
whether the object has some uncertainty
Definition at line 114 of file collision_geometry-inl.h.
◆ setUserData()
| void fcl::CollisionGeometry< S >::setUserData | ( | void * | data | ) |
set user data in geometry
Definition at line 93 of file collision_geometry-inl.h.
Member Data Documentation
◆ aabb_center
| Vector3<S> fcl::CollisionGeometry< S >::aabb_center |
AABB center in local coordinate.
Definition at line 90 of file collision_geometry.h.
◆ aabb_local
| AABB<S> fcl::CollisionGeometry< S >::aabb_local |
AABB in local coordinate, used for tight AABB when only translation transform.
Definition at line 96 of file collision_geometry.h.
◆ aabb_radius
| S fcl::CollisionGeometry< S >::aabb_radius |
AABB radius.
Definition at line 93 of file collision_geometry.h.
◆ cost_density
| S fcl::CollisionGeometry< S >::cost_density |
collision cost for unit volume
Definition at line 102 of file collision_geometry.h.
◆ threshold_free
| S fcl::CollisionGeometry< S >::threshold_free |
threshold for free (<= is free)
Definition at line 108 of file collision_geometry.h.
◆ threshold_occupied
| S fcl::CollisionGeometry< S >::threshold_occupied |
threshold for occupied ( >= is occupied)
Definition at line 105 of file collision_geometry.h.
◆ user_data
| void* fcl::CollisionGeometry< S >::user_data |
pointer to user defined data specific to this object
Definition at line 99 of file collision_geometry.h.
The documentation for this class was generated from the following files: