Public Member Functions | Protected Attributes
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 fcl::CollisionObject:
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List of all members.

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 AABBgetAABB () 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 Vec3fgetTranslation () const
 get translation of the object
const Matrix3fgetRotation () const
 get matrix rotation of the object
const Quaternion3fgetQuatRotation () const
 get quaternion 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 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

Detailed Description

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


Constructor & Destructor Documentation

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]

Member Function Documentation

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]
const AABB& fcl::CollisionObject::getAABB ( ) const [inline]
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.

NODE_TYPE fcl::CollisionObject::getNodeType ( ) const [inline]

get the node type

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.

void fcl::CollisionObject::setTransform ( const Matrix3f R,
const Vec3f T 
) [inline]

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.


Member Data Documentation

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().

pointer to user defined data specific to this object

Referenced by getUserData(), and setUserData().

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