the object for collision or distance computation, contains the geometry and the transform information More...
#include <hpp/fcl/collision_object.h>
Public Member Functions | |
CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_) | |
CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf) | |
CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T) | |
~CollisionObject () | |
OBJECT_TYPE | getObjectType () const |
get the type of the object | |
NODE_TYPE | getNodeType () const |
get the node type | |
const AABB & | getAABB () const |
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 Vec3f & | getTranslation () const |
get translation of the object | |
const Matrix3f & | getRotation () const |
get matrix rotation of the object | |
const Quaternion3f & | getQuatRotation () const |
get quaternion rotation of the object | |
const Transform3f & | getTransform () 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 | setQuatRotation (const Quaternion3f &q) |
set object's quatenrion rotation | |
void | setTransform (const Matrix3f &R, const Vec3f &T) |
set object's transform | |
void | setTransform (const Quaternion3f &q, 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 | |
FCL_DEPRECATED const CollisionGeometry * | getCollisionGeometry () const |
get geometry from the object instance | |
const boost::shared_ptr< const CollisionGeometry > & | collisionGeometry () const |
get geometry from the object instance | |
const boost::shared_ptr < CollisionGeometry > & | collisionGeometry () |
get geometry from the object instance | |
FCL_REAL | getCostDensity () const |
get object's cost density | |
void | setCostDensity (FCL_REAL c) |
set object's cost density | |
bool | isOccupied () const |
whether the object is completely occupied | |
bool | isFree () const |
whether the object is completely free | |
bool | isUncertain () const |
whether the object is uncertain | |
Protected Attributes | |
boost::shared_ptr < CollisionGeometry > | cgeom |
boost::shared_ptr< const CollisionGeometry > | cgeom_const |
Transform3f | t |
AABB | aabb |
AABB in global coordinate. | |
void * | user_data |
pointer to user defined data specific to this object |
the object for collision or distance computation, contains the geometry and the transform information
fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_ | ) | [inline] |
References cgeom, and computeAABB().
fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_, |
const Transform3f & | tf | ||
) | [inline] |
References cgeom, and computeAABB().
fcl::CollisionObject::CollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_, |
const Matrix3f & | R, | ||
const Vec3f & | T | ||
) | [inline] |
References cgeom, and computeAABB().
fcl::CollisionObject::~CollisionObject | ( | ) | [inline] |
const boost::shared_ptr<const CollisionGeometry>& fcl::CollisionObject::collisionGeometry | ( | ) | const [inline] |
get geometry from the object instance
References cgeom_const.
const boost::shared_ptr<CollisionGeometry>& fcl::CollisionObject::collisionGeometry | ( | ) | [inline] |
get geometry from the object instance
References cgeom.
void fcl::CollisionObject::computeAABB | ( | ) | [inline] |
compute the AABB in world space
References aabb, cgeom, fcl::Transform3f::getQuatRotation(), fcl::Transform3f::getTranslation(), fcl::Quaternion3f::isIdentity(), fcl::AABB::max_, fcl::AABB::min_, t, fcl::Transform3f::transform(), and fcl::translate().
Referenced by CollisionObject().
const AABB& fcl::CollisionObject::getAABB | ( | ) | const [inline] |
get the AABB in world space
References aabb.
Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide_(), fcl::SpatialHashingCollisionManager< HashTable >::distance_(), fcl::SpatialHashingCollisionManager< HashTable >::registerObject(), fcl::SpatialHashingCollisionManager< HashTable >::unregisterObject(), and fcl::SpatialHashingCollisionManager< HashTable >::update().
FCL_DEPRECATED const CollisionGeometry* fcl::CollisionObject::getCollisionGeometry | ( | ) | const [inline] |
get geometry from the object instance
References cgeom.
FCL_REAL fcl::CollisionObject::getCostDensity | ( | ) | const [inline] |
get object's cost density
References cgeom.
OBJECT_TYPE fcl::CollisionObject::getObjectType | ( | ) | const [inline] |
get the type of the object
References cgeom.
const Quaternion3f& fcl::CollisionObject::getQuatRotation | ( | ) | const [inline] |
get quaternion rotation of the object
References fcl::Transform3f::getQuatRotation(), and t.
const Matrix3f& fcl::CollisionObject::getRotation | ( | ) | const [inline] |
get matrix rotation of the object
References fcl::Transform3f::getRotation(), and t.
const Transform3f& fcl::CollisionObject::getTransform | ( | ) | const [inline] |
get object's transform
References t.
const Vec3f& fcl::CollisionObject::getTranslation | ( | ) | const [inline] |
get translation of the object
References fcl::Transform3f::getTranslation(), and t.
void* fcl::CollisionObject::getUserData | ( | ) | const [inline] |
get user data in object
References user_data.
bool fcl::CollisionObject::isFree | ( | ) | const [inline] |
whether the object is completely free
References cgeom.
bool fcl::CollisionObject::isIdentityTransform | ( | ) | const [inline] |
whether the object is in local coordinate
References fcl::Transform3f::isIdentity(), and t.
bool fcl::CollisionObject::isOccupied | ( | ) | const [inline] |
whether the object is completely occupied
References cgeom.
bool fcl::CollisionObject::isUncertain | ( | ) | const [inline] |
whether the object is uncertain
References cgeom.
void fcl::CollisionObject::setCostDensity | ( | FCL_REAL | c | ) | [inline] |
set object's cost density
References cgeom.
void fcl::CollisionObject::setIdentityTransform | ( | ) | [inline] |
set the object in local coordinate
References fcl::Transform3f::setIdentity(), and t.
void fcl::CollisionObject::setQuatRotation | ( | const Quaternion3f & | q | ) | [inline] |
set object's quatenrion rotation
References fcl::Transform3f::setQuatRotation(), and t.
void fcl::CollisionObject::setRotation | ( | const Matrix3f & | R | ) | [inline] |
set object's rotation matrix
References fcl::Transform3f::setRotation(), and t.
set object's transform
References fcl::Transform3f::setTransform(), and t.
void fcl::CollisionObject::setTransform | ( | const Quaternion3f & | q, |
const Vec3f & | T | ||
) | [inline] |
set object's transform
References fcl::Transform3f::setTransform(), and t.
void fcl::CollisionObject::setTransform | ( | const Transform3f & | tf | ) | [inline] |
set object's transform
References t.
void fcl::CollisionObject::setTranslation | ( | const Vec3f & | T | ) | [inline] |
set object's translation
References fcl::Transform3f::setTranslation(), and t.
void fcl::CollisionObject::setUserData | ( | void * | data | ) | [inline] |
set user data in object
References user_data.
AABB fcl::CollisionObject::aabb [mutable, protected] |
AABB in global coordinate.
Referenced by computeAABB(), and getAABB().
boost::shared_ptr<CollisionGeometry> fcl::CollisionObject::cgeom [protected] |
boost::shared_ptr<const CollisionGeometry> fcl::CollisionObject::cgeom_const [protected] |
Referenced by collisionGeometry().
Transform3f fcl::CollisionObject::t [protected] |
void* fcl::CollisionObject::user_data [protected] |
pointer to user defined data specific to this object
Referenced by getUserData(), and setUserData().