collision_object.h
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35 
38 #ifndef FCL_COLLISION_OBJECT_H
39 #define FCL_COLLISION_OBJECT_H
40 
41 #include <memory>
42 
44 
45 namespace fcl
46 {
47 
50 template <typename S>
51 class FCL_EXPORT CollisionObject
52 {
53 public:
54  CollisionObject(const std::shared_ptr<CollisionGeometry<S>>& cgeom);
55 
56  CollisionObject(const std::shared_ptr<CollisionGeometry<S>>& cgeom,
57  const Transform3<S>& tf);
58 
59  CollisionObject(const std::shared_ptr<CollisionGeometry<S>>& cgeom,
60  const Matrix3<S>& R,
61  const Vector3<S>& T);
62 
63  ~CollisionObject();
64 
66  OBJECT_TYPE getObjectType() const;
67 
69  NODE_TYPE getNodeType() const;
70 
72  const AABB<S>& getAABB() const;
73 
75  void computeAABB();
76 
78  void* getUserData() const;
79 
81  void setUserData(void *data);
82 
84  const Vector3<S> getTranslation() const;
85 
87  const Matrix3<S> getRotation() const;
88 
90  const Quaternion<S> getQuatRotation() const;
91 
93  const Transform3<S>& getTransform() const;
94 
96  void setRotation(const Matrix3<S>& R);
97 
99  void setTranslation(const Vector3<S>& T);
100 
102  void setQuatRotation(const Quaternion<S>& q);
103 
105  void setTransform(const Matrix3<S>& R, const Vector3<S>& T);
106 
108  void setTransform(const Quaternion<S>& q, const Vector3<S>& T);
109 
111  void setTransform(const Transform3<S>& tf);
112 
114  bool isIdentityTransform() const;
115 
117  void setIdentityTransform();
118 
120  FCL_DEPRECATED
121  const CollisionGeometry<S>* getCollisionGeometry() const;
122 
124  const std::shared_ptr<const CollisionGeometry<S>>& collisionGeometry() const;
125 
127  S getCostDensity() const;
128 
130  void setCostDensity(S c);
131 
133  bool isOccupied() const;
134 
136  bool isFree() const;
137 
139  bool isUncertain() const;
140 
141 protected:
142 
143  std::shared_ptr<CollisionGeometry<S>> cgeom;
144  std::shared_ptr<const CollisionGeometry<S>> cgeom_const;
145 
147 
149  mutable AABB<S> aabb;
150 
152  void *user_data;
153 
154 public:
155 
156  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
157 };
158 
161 
162 } // namespace fcl
163 
165 
166 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
fcl::Quaternion
Eigen::Quaternion< S > Quaternion
Definition: types.h:88
fcl::CollisionObject::cgeom_const
std::shared_ptr< const CollisionGeometry< S > > cgeom_const
Definition: collision_object.h:144
fcl::CollisionObject::t
Transform3< S > t
Definition: collision_object.h:146
fcl::AABB< S >
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::CollisionObject::aabb
AABB< S > aabb
AABB in global coordinate.
Definition: collision_object.h:149
fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition: collision_geometry.h:50
fcl::CollisionObject::user_data
void * user_data
pointer to user defined data specific to this object
Definition: collision_object.h:152
fcl::CollisionObject::cgeom
std::shared_ptr< CollisionGeometry< S > > cgeom
Definition: collision_object.h:143
fcl::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: collision_geometry.h:53
collision_geometry.h
fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:51
collision_object-inl.h
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45


fcl
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autogenerated on Tue Jun 22 2021 07:27:49