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

the object for collision or distance computation, contains the geometry and the transform information More...

#include <hpp/fcl/collision_object.h>

Collaboration diagram for hpp::fcl::CollisionObject:

Public Member Functions

 CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, bool compute_local_aabb=true)
 
 CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf, bool compute_local_aabb=true)
 
 CollisionObject (const shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T, bool compute_local_aabb=true)
 
bool operator== (const CollisionObject &other) const
 
bool operator!= (const CollisionObject &other) const
 
 ~CollisionObject ()
 
OBJECT_TYPE getObjectType () const
 get the type of the object
 
NODE_TYPE getNodeType () const
 get the node type
 
const AABBgetAABB () const
 get the AABB in world space
 
AABBgetAABB ()
 get the AABB in world space
 
void computeAABB ()
 compute the AABB in world space
 
void * getUserData () const
 get user data in object
 
void setUserData (void *data)
 set user data in object
 
const Vec3fgetTranslation () const
 get translation of the object
 
const Matrix3fgetRotation () const
 get matrix rotation of the object
 
const Transform3fgetTransform () const
 get object's transform
 
void setRotation (const Matrix3f &R)
 set object's rotation matrix
 
void setTranslation (const Vec3f &T)
 set object's translation
 
void setTransform (const Matrix3f &R, const Vec3f &T)
 set object's transform
 
void setTransform (const Transform3f &tf)
 set object's transform
 
bool isIdentityTransform () const
 whether the object is in local coordinate
 
void setIdentityTransform ()
 set the object in local coordinate
 
const shared_ptr< const CollisionGeometrycollisionGeometry () const
 get shared pointer to collision geometry of the object instance
 
const shared_ptr< CollisionGeometry > & collisionGeometry ()
 get shared pointer to collision geometry of the object instance
 
const CollisionGeometrycollisionGeometryPtr () const
 get raw pointer to collision geometry of the object instance
 
CollisionGeometrycollisionGeometryPtr ()
 get raw pointer to collision geometry of the object instance
 
void setCollisionGeometry (const shared_ptr< CollisionGeometry > &collision_geometry, bool compute_local_aabb=true)
 Associate a new CollisionGeometry.
 

Protected Member Functions

void init (bool compute_local_aabb=true)
 

Protected Attributes

shared_ptr< CollisionGeometrycgeom
 
Transform3f t
 
AABB aabb
 AABB in global coordinate.
 
void * user_data
 pointer to user defined data specific to this object
 

Detailed Description

the object for collision or distance computation, contains the geometry and the transform information


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