Public Member Functions | Protected Attributes | List of all members
fcl::CollisionObject< S > Class Template Reference

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

#include <collision_object.h>

Inheritance diagram for fcl::CollisionObject< S >:
Inheritance graph
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Public Member Functions

const std::shared_ptr< const CollisionGeometry< S > > & collisionGeometry () const
 get geometry from the object instance More...
 
 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom)
 
 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom, const Matrix3< S > &R, const Vector3< S > &T)
 
 CollisionObject (const std::shared_ptr< CollisionGeometry< S >> &cgeom, const Transform3< S > &tf)
 
void computeAABB ()
 compute the AABB in world space More...
 
const AABB< S > & getAABB () const
 get the AABB in world space More...
 
const FCL_DEPRECATED CollisionGeometry< S > * getCollisionGeometry () const
 get geometry from the object instance More...
 
getCostDensity () const
 get object's cost density More...
 
NODE_TYPE getNodeType () const
 get the node type More...
 
OBJECT_TYPE getObjectType () const
 get the type of the object More...
 
const Quaternion< S > getQuatRotation () const
 get quaternion rotation of the object More...
 
const Matrix3< S > getRotation () const
 get matrix rotation of the object More...
 
const Transform3< S > & getTransform () const
 get object's transform More...
 
const Vector3< S > getTranslation () const
 get translation of the object More...
 
void * getUserData () const
 get user data in object More...
 
bool isFree () const
 whether the object is completely free More...
 
bool isIdentityTransform () const
 whether the object is in local coordinate More...
 
bool isOccupied () const
 whether the object is completely occupied More...
 
bool isUncertain () const
 whether the object is uncertain More...
 
void setCostDensity (S c)
 set object's cost density More...
 
void setIdentityTransform ()
 set the object in local coordinate More...
 
void setQuatRotation (const Quaternion< S > &q)
 set object's quatenrion rotation More...
 
void setRotation (const Matrix3< S > &R)
 set object's rotation matrix More...
 
void setTransform (const Matrix3< S > &R, const Vector3< S > &T)
 set object's transform More...
 
void setTransform (const Quaternion< S > &q, const Vector3< S > &T)
 set object's transform More...
 
void setTransform (const Transform3< S > &tf)
 set object's transform More...
 
void setTranslation (const Vector3< S > &T)
 set object's translation More...
 
void setUserData (void *data)
 set user data in object More...
 
 ~CollisionObject ()
 

Protected Attributes

AABB< S > aabb
 AABB in global coordinate. More...
 
std::shared_ptr< CollisionGeometry< S > > cgeom
 
std::shared_ptr< const CollisionGeometry< S > > cgeom_const
 
Transform3< S > t
 
void * user_data
 pointer to user defined data specific to this object More...
 

Detailed Description

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

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

Definition at line 51 of file collision_object.h.

Constructor & Destructor Documentation

◆ CollisionObject() [1/3]

template<typename S >
fcl::CollisionObject< S >::CollisionObject ( const std::shared_ptr< CollisionGeometry< S >> &  cgeom)

Definition at line 52 of file collision_object-inl.h.

◆ CollisionObject() [2/3]

template<typename S >
fcl::CollisionObject< S >::CollisionObject ( const std::shared_ptr< CollisionGeometry< S >> &  cgeom,
const Transform3< S > &  tf 
)

Definition at line 65 of file collision_object-inl.h.

◆ CollisionObject() [3/3]

template<typename S >
fcl::CollisionObject< S >::CollisionObject ( const std::shared_ptr< CollisionGeometry< S >> &  cgeom,
const Matrix3< S > &  R,
const Vector3< S > &  T 
)

Definition at line 76 of file collision_object-inl.h.

◆ ~CollisionObject()

template<typename S >
fcl::CollisionObject< S >::~CollisionObject

Definition at line 90 of file collision_object-inl.h.

Member Function Documentation

◆ collisionGeometry()

template<typename S >
const std::shared_ptr< const CollisionGeometry< S > > & fcl::CollisionObject< S >::collisionGeometry

get geometry from the object instance

Definition at line 243 of file collision_object-inl.h.

◆ computeAABB()

template<typename S >
void fcl::CollisionObject< S >::computeAABB

compute the AABB in world space

Definition at line 118 of file collision_object-inl.h.

◆ getAABB()

template<typename S >
const AABB< S > & fcl::CollisionObject< S >::getAABB

get the AABB in world space

Definition at line 111 of file collision_object-inl.h.

◆ getCollisionGeometry()

template<typename S >
const CollisionGeometry< S > * fcl::CollisionObject< S >::getCollisionGeometry

get geometry from the object instance

Definition at line 235 of file collision_object-inl.h.

◆ getCostDensity()

template<typename S >
S fcl::CollisionObject< S >::getCostDensity

get object's cost density

Definition at line 250 of file collision_object-inl.h.

◆ getNodeType()

template<typename S >
NODE_TYPE fcl::CollisionObject< S >::getNodeType

get the node type

Definition at line 104 of file collision_object-inl.h.

◆ getObjectType()

template<typename S >
OBJECT_TYPE fcl::CollisionObject< S >::getObjectType

get the type of the object

Definition at line 97 of file collision_object-inl.h.

◆ getQuatRotation()

template<typename S >
const Quaternion< S > fcl::CollisionObject< S >::getQuatRotation

get quaternion rotation of the object

Definition at line 163 of file collision_object-inl.h.

◆ getRotation()

template<typename S >
const Matrix3< S > fcl::CollisionObject< S >::getRotation

get matrix rotation of the object

Definition at line 156 of file collision_object-inl.h.

◆ getTransform()

template<typename S >
const Transform3< S > & fcl::CollisionObject< S >::getTransform

get object's transform

Definition at line 170 of file collision_object-inl.h.

◆ getTranslation()

template<typename S >
const Vector3< S > fcl::CollisionObject< S >::getTranslation

get translation of the object

Definition at line 149 of file collision_object-inl.h.

◆ getUserData()

template<typename S >
void * fcl::CollisionObject< S >::getUserData

get user data in object

Definition at line 135 of file collision_object-inl.h.

◆ isFree()

template<typename S >
bool fcl::CollisionObject< S >::isFree

whether the object is completely free

Definition at line 271 of file collision_object-inl.h.

◆ isIdentityTransform()

template<typename S >
bool fcl::CollisionObject< S >::isIdentityTransform

whether the object is in local coordinate

Definition at line 221 of file collision_object-inl.h.

◆ isOccupied()

template<typename S >
bool fcl::CollisionObject< S >::isOccupied

whether the object is completely occupied

Definition at line 264 of file collision_object-inl.h.

◆ isUncertain()

template<typename S >
bool fcl::CollisionObject< S >::isUncertain

whether the object is uncertain

Definition at line 278 of file collision_object-inl.h.

◆ setCostDensity()

template<typename S >
void fcl::CollisionObject< S >::setCostDensity ( c)

set object's cost density

Definition at line 257 of file collision_object-inl.h.

◆ setIdentityTransform()

template<typename S >
void fcl::CollisionObject< S >::setIdentityTransform

set the object in local coordinate

Definition at line 228 of file collision_object-inl.h.

◆ setQuatRotation()

template<typename S >
void fcl::CollisionObject< S >::setQuatRotation ( const Quaternion< S > &  q)

set object's quatenrion rotation

Definition at line 191 of file collision_object-inl.h.

◆ setRotation()

template<typename S >
void fcl::CollisionObject< S >::setRotation ( const Matrix3< S > &  R)

set object's rotation matrix

Definition at line 177 of file collision_object-inl.h.

◆ setTransform() [1/3]

template<typename S >
void fcl::CollisionObject< S >::setTransform ( const Matrix3< S > &  R,
const Vector3< S > &  T 
)

set object's transform

Definition at line 198 of file collision_object-inl.h.

◆ setTransform() [2/3]

template<typename S >
void fcl::CollisionObject< S >::setTransform ( const Quaternion< S > &  q,
const Vector3< S > &  T 
)

set object's transform

Definition at line 206 of file collision_object-inl.h.

◆ setTransform() [3/3]

template<typename S >
void fcl::CollisionObject< S >::setTransform ( const Transform3< S > &  tf)

set object's transform

Definition at line 214 of file collision_object-inl.h.

◆ setTranslation()

template<typename S >
void fcl::CollisionObject< S >::setTranslation ( const Vector3< S > &  T)

set object's translation

Definition at line 184 of file collision_object-inl.h.

◆ setUserData()

template<typename S >
void fcl::CollisionObject< S >::setUserData ( void *  data)

set user data in object

Definition at line 142 of file collision_object-inl.h.

Member Data Documentation

◆ aabb

template<typename S >
AABB<S> fcl::CollisionObject< S >::aabb
mutableprotected

AABB in global coordinate.

Definition at line 149 of file collision_object.h.

◆ cgeom

template<typename S >
std::shared_ptr<CollisionGeometry<S> > fcl::CollisionObject< S >::cgeom
protected

Definition at line 143 of file collision_object.h.

◆ cgeom_const

template<typename S >
std::shared_ptr<const CollisionGeometry<S> > fcl::CollisionObject< S >::cgeom_const
protected

Definition at line 144 of file collision_object.h.

◆ t

template<typename S >
Transform3<S> fcl::CollisionObject< S >::t
protected

Definition at line 146 of file collision_object.h.

◆ user_data

template<typename S >
void* fcl::CollisionObject< S >::user_data
protected

pointer to user defined data specific to this object

Definition at line 152 of file collision_object.h.


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


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02