collision_geometry.h
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35 
38 #ifndef FCL_COLLISION_GEOMETRY_H
39 #define FCL_COLLISION_GEOMETRY_H
40 
41 #include <memory>
42 
43 #include "fcl/math/bv/AABB.h"
45 
46 namespace fcl
47 {
48 
51 
55 
57 template <typename S>
58 class FCL_EXPORT CollisionGeometry
59 {
60 public:
62 
63  virtual ~CollisionGeometry();
64 
66  virtual OBJECT_TYPE getObjectType() const;
67 
69  virtual NODE_TYPE getNodeType() const;
70 
72  virtual void computeLocalAABB() = 0;
73 
75  void* getUserData() const;
76 
78  void setUserData(void *data);
79 
81  bool isOccupied() const;
82 
84  bool isFree() const;
85 
87  bool isUncertain() const;
88 
91 
94 
97 
99  void* user_data;
100 
103 
106 
109 
111  virtual Vector3<S> computeCOM() const;
112 
114  virtual Matrix3<S> computeMomentofInertia() const;
115 
117  virtual S computeVolume() const;
118 
120  virtual Matrix3<S> computeMomentofInertiaRelatedToCOM() const;
121 
122 };
123 
126 
127 } // namespace fcl
128 
130 
131 #endif
fcl::GEOM_OCTREE
@ GEOM_OCTREE
Definition: collision_geometry.h:54
fcl::GEOM_HALFSPACE
@ GEOM_HALFSPACE
Definition: collision_geometry.h:54
fcl::CollisionGeometry::threshold_free
S threshold_free
threshold for free (<= is free)
Definition: collision_geometry.h:108
motion_base.h
fcl::GEOM_CONE
@ GEOM_CONE
Definition: collision_geometry.h:54
fcl::CollisionGeometry::cost_density
S cost_density
collision cost for unit volume
Definition: collision_geometry.h:102
fcl::CollisionGeometry::aabb_radius
S aabb_radius
AABB radius.
Definition: collision_geometry.h:93
fcl::GEOM_PLANE
@ GEOM_PLANE
Definition: collision_geometry.h:54
fcl::BV_KDOP18
@ BV_KDOP18
Definition: collision_geometry.h:53
fcl::OT_UNKNOWN
@ OT_UNKNOWN
Definition: collision_geometry.h:50
fcl::GEOM_ELLIPSOID
@ GEOM_ELLIPSOID
Definition: collision_geometry.h:54
fcl::AABB< S >
fcl::CollisionGeometry::user_data
void * user_data
pointer to user defined data specific to this object
Definition: collision_geometry.h:99
fcl::CollisionGeometry::aabb_center
Vector3< S > aabb_center
AABB center in local coordinate.
Definition: collision_geometry.h:90
collision_geometry-inl.h
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_geometry.h:58
fcl::GEOM_TRIANGLE
@ GEOM_TRIANGLE
Definition: collision_geometry.h:54
fcl::BV_KDOP24
@ BV_KDOP24
Definition: collision_geometry.h:53
fcl::BV_UNKNOWN
@ BV_UNKNOWN
Definition: collision_geometry.h:53
fcl::BV_OBB
@ BV_OBB
Definition: collision_geometry.h:53
fcl::NODE_COUNT
@ NODE_COUNT
Definition: collision_geometry.h:54
fcl::BV_KDOP16
@ BV_KDOP16
Definition: collision_geometry.h:53
fcl::GEOM_SPHERE
@ GEOM_SPHERE
Definition: collision_geometry.h:54
fcl::GEOM_CYLINDER
@ GEOM_CYLINDER
Definition: collision_geometry.h:54
fcl::GEOM_CONVEX
@ GEOM_CONVEX
Definition: collision_geometry.h:54
fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_geometry.h:50
fcl::BV_kIOS
@ BV_kIOS
Definition: collision_geometry.h:53
fcl::OT_OCTREE
@ OT_OCTREE
Definition: collision_geometry.h:50
fcl::GEOM_BOX
@ GEOM_BOX
Definition: collision_geometry.h:54
fcl::BV_RSS
@ BV_RSS
Definition: collision_geometry.h:53
fcl::OT_BVH
@ OT_BVH
Definition: collision_geometry.h:50
fcl::CollisionGeometry::aabb_local
AABB< S > aabb_local
AABB in local coordinate, used for tight AABB when only translation transform.
Definition: collision_geometry.h:96
AABB.h
fcl::CollisionGeometry::threshold_occupied
S threshold_occupied
threshold for occupied ( >= is occupied)
Definition: collision_geometry.h:105
fcl::BV_OBBRSS
@ BV_OBBRSS
Definition: collision_geometry.h:53
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
fcl::BV_AABB
@ BV_AABB
Definition: collision_geometry.h:53
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
fcl::GEOM_CAPSULE
@ GEOM_CAPSULE
Definition: collision_geometry.h:54
fcl::OT_GEOM
@ OT_GEOM
Definition: collision_geometry.h:50
fcl::OT_COUNT
@ OT_COUNT
Definition: collision_geometry.h:50


fcl
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autogenerated on Sat Sep 11 2021 02:37:41