fcl::CollisionGeometry Class Reference

The geometry for the object for collision or distance computation. More...

#include <collision_object.h>

Inheritance diagram for fcl::CollisionGeometry:

List of all members.

Public Member Functions
	CollisionGeometry ()
virtual void	computeLocalAABB ()=0
	compute the AABB for object in local coordinate
virtual NODE_TYPE	getNodeType () const
	get the node type
virtual OBJECT_TYPE	getObjectType () const
	get the type of the object
void *	getUserData () const
	get user data in geometry
bool	isFree () const
	whether the object is completely free
bool	isOccupied () const
	whether the object is completely occupied
bool	isUncertain () const
	whether the object has some uncertainty
void	setUserData (void *data)
	set user data in geometry
virtual	~CollisionGeometry ()
Public Attributes
Vec3f	aabb_center
	AABB center in local coordinate.
AABB	aabb_local
	AABB in local coordinate, used for tight AABB when only translation transform.
FCL_REAL	aabb_radius
	AABB radius.
FCL_REAL	cost_density
	collision cost for unit volume
FCL_REAL	threshold_free
	threshold for free (<= is free)
FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied)
void *	user_data
	pointer to user defined data specific to this object

---

Detailed Description

The geometry for the object for collision or distance computation.

Definition at line 56 of file collision_object.h.

---

Constructor & Destructor Documentation

fcl::CollisionGeometry::CollisionGeometry

(

)

[inline]

Definition at line 59 of file collision_object.h.

virtual fcl::CollisionGeometry::~CollisionGeometry

(

)

[inline, virtual]

Definition at line 65 of file collision_object.h.

---

Member Function Documentation

virtual void fcl::CollisionGeometry::computeLocalAABB

(

)

[pure virtual]

compute the AABB for object in local coordinate

Implemented in fcl::Plane, fcl::Halfspace, fcl::Convex, fcl::Cylinder, fcl::Cone, fcl::Capsule, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Sphere, fcl::OcTree, fcl::Box, and fcl::Triangle2.

virtual NODE_TYPE fcl::CollisionGeometry::getNodeType

(

)

const [inline, virtual]

get the node type

Reimplemented in fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::Plane, fcl::BVHModel< BV >, fcl::Halfspace, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::Convex, fcl::OcTree, fcl::Cylinder, fcl::Cone, fcl::Capsule, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Sphere, fcl::Box, and fcl::Triangle2.

Definition at line 71 of file collision_object.h.

virtual OBJECT_TYPE fcl::CollisionGeometry::getObjectType

(

)

const [inline, virtual]

get the type of the object

Reimplemented in fcl::OcTree, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, and fcl::ShapeBase.

Definition at line 68 of file collision_object.h.

void* fcl::CollisionGeometry::getUserData

(

)

const [inline]

get user data in geometry

Definition at line 77 of file collision_object.h.

bool fcl::CollisionGeometry::isFree

(

)

const [inline]

whether the object is completely free

Definition at line 92 of file collision_object.h.

bool fcl::CollisionGeometry::isOccupied

(

)

const [inline]

whether the object is completely occupied

Definition at line 89 of file collision_object.h.

bool fcl::CollisionGeometry::isUncertain

(

)

const [inline]

whether the object has some uncertainty

Definition at line 95 of file collision_object.h.

void fcl::CollisionGeometry::setUserData

(

void *

data

)

[inline]

set user data in geometry

Definition at line 83 of file collision_object.h.

---

Member Data Documentation

Vec3f fcl::CollisionGeometry::aabb_center

AABB center in local coordinate.

Definition at line 98 of file collision_object.h.

AABB fcl::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

Definition at line 104 of file collision_object.h.

FCL_REAL fcl::CollisionGeometry::aabb_radius

AABB radius.

Definition at line 101 of file collision_object.h.

FCL_REAL fcl::CollisionGeometry::cost_density

collision cost for unit volume

Definition at line 110 of file collision_object.h.

FCL_REAL fcl::CollisionGeometry::threshold_free

threshold for free (<= is free)

Definition at line 116 of file collision_object.h.

FCL_REAL fcl::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

Definition at line 113 of file collision_object.h.

void* fcl::CollisionGeometry::user_data

pointer to user defined data specific to this object

Definition at line 107 of file collision_object.h.

---

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

• collision_object.h