Public Member Functions | Protected Attributes
fcl::ContinuousCollisionObject Class Reference

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

#include <hpp/fcl/collision_object.h>

Collaboration diagram for fcl::ContinuousCollisionObject:
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List of all members.

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 AABBgetAABB () 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
MotionBasegetMotion () 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< MotionBasemotion
AABB aabb
 AABB in the global coordinate for the motion.
void * user_data
 pointer to user defined data specific to this object

Detailed Description

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


Constructor & Destructor Documentation

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]

Member Function Documentation

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]

get the AABB in the world space for the motion

References aabb.

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.


Member Data Documentation

AABB in the global coordinate for the motion.

Referenced by computeAABB(), and getAABB().

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().

pointer to user defined data specific to this object

Referenced by getUserData(), and setUserData().

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