include
fcl
narrowphase
continuous_collision_object.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*/
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#ifndef FCL_CONTINUOUS_COLLISION_OBJECT_H
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#define FCL_CONTINUOUS_COLLISION_OBJECT_H
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#include <memory>
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#include "
fcl/geometry/collision_geometry.h
"
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namespace
fcl
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{
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template
<
typename
S>
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class
FCL_EXPORT
ContinuousCollisionObject
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{
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public
:
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ContinuousCollisionObject
(
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const
std::shared_ptr<
CollisionGeometry<S>
>& cgeom);
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ContinuousCollisionObject
(
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const
std::shared_ptr<
CollisionGeometry<S>
>& cgeom,
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const
std::shared_ptr<
MotionBase<S>
>& motion);
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~
ContinuousCollisionObject
();
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OBJECT_TYPE
getObjectType()
const
;
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NODE_TYPE
getNodeType()
const
;
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const
AABB<S>
& getAABB()
const
;
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void
computeAABB();
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void
* getUserData()
const
;
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void
setUserData(
void
* data);
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MotionBase<S>
* getMotion()
const
;
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FCL_DEPRECATED
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const
CollisionGeometry<S>
* getCollisionGeometry()
const
;
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const
std::shared_ptr<const CollisionGeometry<S>>& collisionGeometry()
const
;
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protected
:
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std::shared_ptr<CollisionGeometry<S>>
cgeom
;
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std::shared_ptr<const CollisionGeometry<S>>
cgeom_const
;
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std::shared_ptr<MotionBase<S>>
motion
;
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mutable
AABB<S>
aabb
;
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void
*
user_data
;
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};
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using
ContinuousCollisionObjectf
=
ContinuousCollisionObject<float>
;
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using
ContinuousCollisionObjectd
=
ContinuousCollisionObject<double>
;
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}
// namespace fcl
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#include "
fcl/narrowphase/continuous_collision_object-inl.h
"
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#endif
fcl::ContinuousCollisionObject::user_data
void * user_data
pointer to user defined data specific to this object
Definition:
continuous_collision_object.h:102
fcl::ContinuousCollisionObject::cgeom_const
std::shared_ptr< const CollisionGeometry< S > > cgeom_const
Definition:
continuous_collision_object.h:94
fcl::ContinuousCollisionObject::aabb
AABB< S > aabb
AABB in the global coordinate for the motion.
Definition:
continuous_collision_object.h:99
fcl::ContinuousCollisionObject
the object for continuous collision or distance computation, contains the geometry and the motion inf...
Definition:
continuous_collision_object.h:51
fcl::AABB< S >
continuous_collision_object-inl.h
fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition:
collision_geometry.h:58
fcl::MotionBase
Definition:
bv_motion_bound_visitor.h:45
fcl::OBJECT_TYPE
OBJECT_TYPE
object type: BVH (mesh, points), basic geometry, octree
Definition:
collision_geometry.h:50
fcl::ContinuousCollisionObject::cgeom
std::shared_ptr< CollisionGeometry< S > > cgeom
Definition:
continuous_collision_object.h:93
fcl::ContinuousCollisionObject::motion
std::shared_ptr< MotionBase< S > > motion
Definition:
continuous_collision_object.h:96
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
Main namespace.
Definition:
broadphase_bruteforce-inl.h:45
fcl
Author(s):
autogenerated on Tue Dec 5 2023 03:40:48