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 >:

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...

S	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 ( S 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:

Public Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CollisionObject() [1/3]

◆ CollisionObject() [2/3]

◆ CollisionObject() [3/3]

◆ ~CollisionObject()

Member Function Documentation

◆ collisionGeometry()

◆ computeAABB()

◆ getAABB()

◆ getCollisionGeometry()

◆ getCostDensity()

◆ getNodeType()

◆ getObjectType()

◆ getQuatRotation()

◆ getRotation()

◆ getTransform()

◆ getTranslation()

◆ getUserData()

◆ isFree()

◆ isIdentityTransform()

◆ isOccupied()

◆ isUncertain()

◆ setCostDensity()

◆ setIdentityTransform()

◆ setQuatRotation()

◆ setRotation()

◆ setTransform() [1/3]

◆ setTransform() [2/3]

◆ setTransform() [3/3]

◆ setTranslation()

◆ setUserData()

Member Data Documentation

◆ aabb

◆ cgeom

◆ cgeom_const

◆ t

◆ user_data

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