fcl_collision_object_wrapper.h

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#ifndef TESSERACT_COLLISION_FCL_COLLISION_OBJECT_WRAPPER_H
#define TESSERACT_COLLISION_FCL_COLLISION_OBJECT_WRAPPER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <fcl/narrowphase/collision_object-inl.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_collision::tesseract_collision_fcl
{
class FCLCollisionObjectWrapper : public fcl::CollisionObject<double>
{
public:
  using fcl::CollisionObject<double>::CollisionObject;
 
  void setContactDistanceThreshold(double contact_distance);
 
  double getContactDistanceThreshold() const;
 
  void updateAABB();
 
  void setShapeIndex(int index);
 
  int getShapeIndex() const;
 
protected:
  double contact_distance_{ 0 }; 
  int shape_index_{ -1 };
};
 
}  // namespace tesseract_collision::tesseract_collision_fcl
 
#endif  // TESSERACT_COLLISION_FCL_COLLISION_OBJECT_WRAPPER_H