hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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hpp::fcl::ShapeBase Class Reference

Base class for all basic geometric shapes. More...

#include <hpp/fcl/shape/geometric_shapes.h>

Inheritance diagram for hpp::fcl::ShapeBase:
Collaboration diagram for hpp::fcl::ShapeBase:

Public Member Functions

 ShapeBase ()
 
 ShapeBase (const ShapeBase &other)
  
 
ShapeBaseoperator= (const ShapeBase &other)=default
 
virtual ~ShapeBase ()
 
OBJECT_TYPE getObjectType () const
 Get object type: a geometric shape.
 
- Public Member Functions inherited from hpp::fcl::CollisionGeometry
 CollisionGeometry ()
 
 CollisionGeometry (const CollisionGeometry &other)=default
 Copy constructor.
 
virtual ~CollisionGeometry ()
 
virtual CollisionGeometryclone () const =0
 Clone *this into a new CollisionGeometry.
 
bool operator== (const CollisionGeometry &other) const
 Equality operator.
 
bool operator!= (const CollisionGeometry &other) const
 Difference operator.
 
virtual NODE_TYPE getNodeType () const
 get the node type
 
virtual void computeLocalAABB ()=0
 compute the AABB for object in local coordinate
 
void * getUserData () const
 get user data in geometry
 
void setUserData (void *data)
 set user data in geometry
 
bool isOccupied () const
 whether the object is completely occupied
 
bool isFree () const
 whether the object is completely free
 
bool isUncertain () const
 whether the object has some uncertainty
 
virtual Vec3f computeCOM () const
 compute center of mass
 
virtual Matrix3f computeMomentofInertia () const
 compute the inertia matrix, related to the origin
 
virtual FCL_REAL computeVolume () const
 compute the volume
 
virtual Matrix3f computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com
 

Additional Inherited Members

- Public Attributes inherited from hpp::fcl::CollisionGeometry
Vec3f aabb_center
 AABB center in local coordinate.
 
FCL_REAL aabb_radius
 AABB radius.
 
AABB aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform.
 
void * user_data
 pointer to user defined data specific to this object
 
FCL_REAL cost_density
 collision cost for unit volume
 
FCL_REAL threshold_occupied
 threshold for occupied ( >= is occupied)
 
FCL_REAL threshold_free
 threshold for free (<= is free)
 

Detailed Description

Base class for all basic geometric shapes.


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