Public Member Functions | Public Attributes | Private Member Functions | List of all members
hpp::fcl::CollisionGeometry Class Referenceabstract

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

#include <collision_object.h>

Inheritance diagram for hpp::fcl::CollisionGeometry:
Inheritance graph
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Public Member Functions

virtual CollisionGeometryclone () const =0
 Clone *this into a new CollisionGeometry. More...
 
 CollisionGeometry ()
 
 CollisionGeometry (const CollisionGeometry &other)=default
 Copy constructor. More...
 
virtual Vec3f computeCOM () const
 compute center of mass More...
 
virtual void computeLocalAABB ()=0
 compute the AABB for object in local coordinate More...
 
virtual Matrix3f computeMomentofInertia () const
 compute the inertia matrix, related to the origin More...
 
virtual Matrix3f computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 
virtual FCL_REAL 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...
 
bool operator!= (const CollisionGeometry &other) const
 Difference operator. More...
 
bool operator== (const CollisionGeometry &other) const
 Equality operator. More...
 
void setUserData (void *data)
 set user data in geometry More...
 
virtual ~CollisionGeometry ()
 

Public Attributes

Vec3f aabb_center
 AABB center in local coordinate. More...
 
AABB aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform. More...
 
FCL_REAL aabb_radius
 AABB radius. More...
 
FCL_REAL cost_density
 collision cost for unit volume More...
 
FCL_REAL threshold_free
 threshold for free (<= is free) More...
 
FCL_REAL threshold_occupied
 threshold for occupied ( >= is occupied) More...
 
void * user_data
 pointer to user defined data specific to this object More...
 

Private Member Functions

virtual bool isEqual (const CollisionGeometry &other) const =0
 equal operator with another object of derived type. More...
 
virtual bool isNotEqual (const CollisionGeometry &other) const
 not equal operator with another object of derived type. More...
 

Detailed Description

The geometry for the object for collision or distance computation.

Definition at line 95 of file collision_object.h.


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


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03