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 FCL_EXPORT 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