This is a wrapper around FCL Collision Object Class which allows you to expand the AABB by the contact dist. More...

#include <fcl_collision_object_wrapper.h>

Inheritance diagram for tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper:

Public Member Functions
double	getContactDistanceThreshold () const
	Get the collision objects contact distance threshold. More...

int	getShapeIndex () const
	Get the shape index. This is the geometries index in the urdf. More...

void	setContactDistanceThreshold (double contact_distance)
	Set the collision objects contact distance threshold. More...

void	setShapeIndex (int index)
	Set the shape index. This is the geometries index in the urdf. More...

void	updateAABB ()
	Update the internal AABB. This must be called instead of the base class computeAABB(). More...

Public Member Functions inherited from fcl::CollisionObject< double >
const std::shared_ptr< const CollisionGeometry< S > > &	collisionGeometry () const

	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 ()

const AABB< S > &	getAABB () const

const FCL_DEPRECATED CollisionGeometry< S > *	getCollisionGeometry () const

S	getCostDensity () const

NODE_TYPE	getNodeType () const

OBJECT_TYPE	getObjectType () const

const Quaternion< S >	getQuatRotation () const

const Matrix3< S >	getRotation () const

const Transform3< S > &	getTransform () const

const Vector3< S >	getTranslation () const

void *	getUserData () const

bool	isFree () const

bool	isIdentityTransform () const

bool	isOccupied () const

bool	isUncertain () const

void	setCostDensity (S c)

void	setIdentityTransform ()

void	setQuatRotation (const Quaternion< S > &q)

void	setRotation (const Matrix3< S > &R)

void	setTransform (const Matrix3< S > &R, const Vector3< S > &T)

void	setTransform (const Quaternion< S > &q, const Vector3< S > &T)

void	setTransform (const Transform3< S > &tf)

void	setTranslation (const Vector3< S > &T)

void	setUserData (void *data)

	~CollisionObject ()

Protected Attributes
double	contact_distance_ { 0 }
	The contact distance threshold. More...

int	shape_index_ { -1 }
	The shape index, which is the geometries index in the urdf. More...

Protected Attributes inherited from fcl::CollisionObject< double >
AABB< S >	aabb

std::shared_ptr< CollisionGeometry< S > >	cgeom

std::shared_ptr< const CollisionGeometry< S > >	cgeom_const

Transform3< S >	t

void *	user_data

Detailed Description

This is a wrapper around FCL Collision Object Class which allows you to expand the AABB by the contact dist.

This significantly improves performance when making distance requests if performing a contact tests type FIRST.

Definition at line 41 of file fcl_collision_object_wrapper.h.

Member Function Documentation

◆ getContactDistanceThreshold()

double tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::getContactDistanceThreshold ( ) const

Get the collision objects contact distance threshold.

Returns: The contact distance threshold.

Definition at line 37 of file fcl_collision_object_wrapper.cpp.

◆ getShapeIndex()

int tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::getShapeIndex ( ) const

Get the shape index. This is the geometries index in the urdf.

Returns: The shape index

Definition at line 59 of file fcl_collision_object_wrapper.cpp.

◆ setContactDistanceThreshold()

void tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::setContactDistanceThreshold ( double contact_distance )

Set the collision objects contact distance threshold.

This automatically calls updateAABB() which increases the AABB by the contact distance.

Parameters

contact_distance The contact distance threshold.

Definition at line 31 of file fcl_collision_object_wrapper.cpp.

◆ setShapeIndex()

void tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::setShapeIndex ( int index )

Set the shape index. This is the geometries index in the urdf.

Parameters

index The index

Definition at line 57 of file fcl_collision_object_wrapper.cpp.

◆ updateAABB()

void tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::updateAABB ( )

Update the internal AABB. This must be called instead of the base class computeAABB().

After setting the collision objects transform this must be called.

Definition at line 39 of file fcl_collision_object_wrapper.cpp.

Member Data Documentation

◆ contact_distance_

double tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::contact_distance_ { 0 }

protected

The contact distance threshold.

Definition at line 80 of file fcl_collision_object_wrapper.h.

◆ shape_index_

int tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::shape_index_ { -1 }

protected

The shape index, which is the geometries index in the urdf.

Definition at line 83 of file fcl_collision_object_wrapper.h.

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

Public Member Functions

Protected Attributes