Public Member Functions | Public Attributes | List of all members
fcl::CollisionGeometry< S > Class Template Referenceabstract

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

#include <collision_geometry.h>

Inheritance diagram for fcl::CollisionGeometry< S >:
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Public Member Functions

 CollisionGeometry ()
 
virtual Vector3< S > computeCOM () const
 compute center of mass More...
 
virtual void computeLocalAABB ()=0
 compute the AABB for object in local coordinate More...
 
virtual Matrix3< S > computeMomentofInertia () const
 compute the inertia matrix, related to the origin More...
 
virtual Matrix3< S > computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 
virtual S 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...
 
void setUserData (void *data)
 set user data in geometry More...
 
virtual ~CollisionGeometry ()
 

Public Attributes

Vector3< S > aabb_center
 AABB center in local coordinate. More...
 
AABB< S > aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform. More...
 
S aabb_radius
 AABB radius. More...
 
S cost_density
 collision cost for unit volume More...
 
S threshold_free
 threshold for free (<= is free) More...
 
S threshold_occupied
 threshold for occupied ( >= is occupied) More...
 
void * user_data
 pointer to user defined data specific to this object More...
 

Detailed Description

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

The geometry for the object for collision or distance computation.

Definition at line 58 of file collision_geometry.h.

Constructor & Destructor Documentation

◆ CollisionGeometry()

template<typename S >
fcl::CollisionGeometry< S >::CollisionGeometry

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

◆ ~CollisionGeometry()

template<typename S >
fcl::CollisionGeometry< S >::~CollisionGeometry
virtual

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

Member Function Documentation

◆ computeCOM()

template<typename S >
Vector3< S > fcl::CollisionGeometry< S >::computeCOM
virtual

compute center of mass

Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.

Definition at line 121 of file collision_geometry-inl.h.

◆ computeLocalAABB()

template<typename S >
virtual void fcl::CollisionGeometry< S >::computeLocalAABB ( )
pure virtual

compute the AABB for object in local coordinate

Implemented in fcl::Convex< S_ >, fcl::Convex< S >, fcl::BVHModel< BV >, fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, fcl::BVHModel< OBB< S > >, fcl::Halfspace< S_ >, fcl::Box< S_ >, fcl::Plane< S_ >, fcl::Capsule< S_ >, fcl::Cylinder< S_ >, fcl::Ellipsoid< S_ >, fcl::Capsule< S >, fcl::Cone< S_ >, fcl::Sphere< S_ >, and fcl::TriangleP< S_ >.

◆ computeMomentofInertia()

template<typename S >
Matrix3< S > fcl::CollisionGeometry< S >::computeMomentofInertia
virtual

compute the inertia matrix, related to the origin

Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.

Definition at line 128 of file collision_geometry-inl.h.

◆ computeMomentofInertiaRelatedToCOM()

template<typename S >
Matrix3< S > fcl::CollisionGeometry< S >::computeMomentofInertiaRelatedToCOM
virtual

compute the inertia matrix, related to the com

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

◆ computeVolume()

template<typename S >
S fcl::CollisionGeometry< S >::computeVolume
virtual

compute the volume

Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.

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

◆ getNodeType()

template<typename S >
NODE_TYPE fcl::CollisionGeometry< S >::getNodeType
virtual

get the node type

Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.

Definition at line 79 of file collision_geometry-inl.h.

◆ getObjectType()

template<typename S >
OBJECT_TYPE fcl::CollisionGeometry< S >::getObjectType
virtual

get the type of the object

Reimplemented in fcl::BVHModel< kIOS< Shape::S > >, fcl::BVHModel< RSS< Shape::S > >, fcl::BVHModel< kIOS< S > >, fcl::BVHModel< OBBRSS< S > >, fcl::BVHModel< OBB< Shape::S > >, fcl::BVHModel< OBBRSS< Shape::S > >, fcl::BVHModel< RSS< S > >, and fcl::BVHModel< OBB< S > >.

Definition at line 72 of file collision_geometry-inl.h.

◆ getUserData()

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

get user data in geometry

Definition at line 86 of file collision_geometry-inl.h.

◆ isFree()

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

whether the object is completely free

Definition at line 107 of file collision_geometry-inl.h.

◆ isOccupied()

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

whether the object is completely occupied

Definition at line 100 of file collision_geometry-inl.h.

◆ isUncertain()

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

whether the object has some uncertainty

Definition at line 114 of file collision_geometry-inl.h.

◆ setUserData()

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

set user data in geometry

Definition at line 93 of file collision_geometry-inl.h.

Member Data Documentation

◆ aabb_center

template<typename S >
Vector3<S> fcl::CollisionGeometry< S >::aabb_center

AABB center in local coordinate.

Definition at line 90 of file collision_geometry.h.

◆ aabb_local

template<typename S >
AABB<S> fcl::CollisionGeometry< S >::aabb_local

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

Definition at line 96 of file collision_geometry.h.

◆ aabb_radius

template<typename S >
S fcl::CollisionGeometry< S >::aabb_radius

AABB radius.

Definition at line 93 of file collision_geometry.h.

◆ cost_density

template<typename S >
S fcl::CollisionGeometry< S >::cost_density

collision cost for unit volume

Definition at line 102 of file collision_geometry.h.

◆ threshold_free

template<typename S >
S fcl::CollisionGeometry< S >::threshold_free

threshold for free (<= is free)

Definition at line 108 of file collision_geometry.h.

◆ threshold_occupied

template<typename S >
S fcl::CollisionGeometry< S >::threshold_occupied

threshold for occupied ( >= is occupied)

Definition at line 105 of file collision_geometry.h.

◆ user_data

template<typename S >
void* fcl::CollisionGeometry< S >::user_data

pointer to user defined data specific to this object

Definition at line 99 of file collision_geometry.h.

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

fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:50