the object for continuous collision or distance computation, contains the geometry and the motion information More...
#include <hpp/fcl/collision_object.h>
Public Member Functions | |
ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_) | |
ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const boost::shared_ptr< MotionBase > &motion_) | |
~ContinuousCollisionObject () | |
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 the world space for the motion | |
void | computeAABB () |
compute the AABB in the world space for the motion | |
void * | getUserData () const |
get user data in object | |
void | setUserData (void *data) |
set user data in object | |
MotionBase * | getMotion () const |
get motion from the object instance | |
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 | |
Protected Attributes | |
boost::shared_ptr < CollisionGeometry > | cgeom |
boost::shared_ptr< const CollisionGeometry > | cgeom_const |
boost::shared_ptr< MotionBase > | motion |
AABB | aabb |
AABB in the global coordinate for the motion. | |
void * | user_data |
pointer to user defined data specific to this object |
the object for continuous collision or distance computation, contains the geometry and the motion information
fcl::ContinuousCollisionObject::ContinuousCollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_ | ) | [inline] |
fcl::ContinuousCollisionObject::ContinuousCollisionObject | ( | const boost::shared_ptr< CollisionGeometry > & | cgeom_, |
const boost::shared_ptr< MotionBase > & | motion_ | ||
) | [inline] |
fcl::ContinuousCollisionObject::~ContinuousCollisionObject | ( | ) | [inline] |
const boost::shared_ptr<const CollisionGeometry>& fcl::ContinuousCollisionObject::collisionGeometry | ( | ) | const [inline] |
get geometry from the object instance
References cgeom_const.
void fcl::ContinuousCollisionObject::computeAABB | ( | ) | [inline] |
compute the AABB in the world space for the motion
References aabb, fcl::bound(), cgeom, fcl::IVector3::getHigh(), fcl::IVector3::getLow(), fcl::AABB::max_, fcl::AABB::min_, and motion.
const AABB& fcl::ContinuousCollisionObject::getAABB | ( | ) | const [inline] |
FCL_DEPRECATED const CollisionGeometry* fcl::ContinuousCollisionObject::getCollisionGeometry | ( | ) | const [inline] |
get geometry from the object instance
References cgeom.
MotionBase* fcl::ContinuousCollisionObject::getMotion | ( | ) | const [inline] |
get motion from the object instance
References motion.
NODE_TYPE fcl::ContinuousCollisionObject::getNodeType | ( | ) | const [inline] |
get the node type
References cgeom.
OBJECT_TYPE fcl::ContinuousCollisionObject::getObjectType | ( | ) | const [inline] |
get the type of the object
References cgeom.
void* fcl::ContinuousCollisionObject::getUserData | ( | ) | const [inline] |
get user data in object
References user_data.
void fcl::ContinuousCollisionObject::setUserData | ( | void * | data | ) | [inline] |
set user data in object
References user_data.
AABB fcl::ContinuousCollisionObject::aabb [mutable, protected] |
AABB in the global coordinate for the motion.
Referenced by computeAABB(), and getAABB().
boost::shared_ptr<CollisionGeometry> fcl::ContinuousCollisionObject::cgeom [protected] |
Referenced by computeAABB(), getCollisionGeometry(), getNodeType(), and getObjectType().
boost::shared_ptr<const CollisionGeometry> fcl::ContinuousCollisionObject::cgeom_const [protected] |
Referenced by collisionGeometry().
boost::shared_ptr<MotionBase> fcl::ContinuousCollisionObject::motion [protected] |
Referenced by computeAABB(), and getMotion().
void* fcl::ContinuousCollisionObject::user_data [protected] |
pointer to user defined data specific to this object
Referenced by getUserData(), and setUserData().