Public Member Functions | Protected Attributes | List of all members
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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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 More...
 
NODE_TYPE getNodeType () const
 get the node type More...
 
const AABBgetAABB () const
 get the AABB in the world space for the motion More...
 
void computeAABB ()
 compute the AABB in the world space for the motion More...
 
void * getUserData () const
 get user data in object More...
 
void setUserData (void *data)
 set user data in object More...
 
MotionBasegetMotion () const
 get motion from the object instance More...
 
FCL_DEPRECATED const CollisionGeometrygetCollisionGeometry () const
 get geometry from the object instance More...
 
const boost::shared_ptr< const CollisionGeometry > & collisionGeometry () const
 get geometry from the object instance More...
 

Protected Attributes

boost::shared_ptr< CollisionGeometrycgeom
 
boost::shared_ptr< const CollisionGeometrycgeom_const
 
boost::shared_ptr< MotionBasemotion
 
AABB aabb
 AABB in the global coordinate for the motion. More...
 
void * user_data
 pointer to user defined data specific to this object More...
 

Detailed Description

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

Constructor & Destructor Documentation

◆ ContinuousCollisionObject() [1/2]

fcl::ContinuousCollisionObject::ContinuousCollisionObject ( const boost::shared_ptr< CollisionGeometry > &  cgeom_)
inline

◆ ContinuousCollisionObject() [2/2]

fcl::ContinuousCollisionObject::ContinuousCollisionObject ( const boost::shared_ptr< CollisionGeometry > &  cgeom_,
const boost::shared_ptr< MotionBase > &  motion_ 
)
inline

◆ ~ContinuousCollisionObject()

fcl::ContinuousCollisionObject::~ContinuousCollisionObject ( )
inline

Member Function Documentation

◆ collisionGeometry()

const boost::shared_ptr<const CollisionGeometry>& fcl::ContinuousCollisionObject::collisionGeometry ( ) const
inline

get geometry from the object instance

◆ computeAABB()

void fcl::ContinuousCollisionObject::computeAABB ( )
inline

compute the AABB in the world space for the motion

References fcl::bound(), fcl::IVector3::getHigh(), and fcl::IVector3::getLow().

◆ getAABB()

const AABB& fcl::ContinuousCollisionObject::getAABB ( ) const
inline

get the AABB in the world space for the motion

◆ getCollisionGeometry()

FCL_DEPRECATED const CollisionGeometry* fcl::ContinuousCollisionObject::getCollisionGeometry ( ) const
inline

get geometry from the object instance

◆ getMotion()

MotionBase* fcl::ContinuousCollisionObject::getMotion ( ) const
inline

get motion from the object instance

References FCL_DEPRECATED.

◆ getNodeType()

NODE_TYPE fcl::ContinuousCollisionObject::getNodeType ( ) const
inline

get the node type

◆ getObjectType()

OBJECT_TYPE fcl::ContinuousCollisionObject::getObjectType ( ) const
inline

get the type of the object

◆ getUserData()

void* fcl::ContinuousCollisionObject::getUserData ( ) const
inline

get user data in object

References fcl::CollisionGeometry::user_data.

◆ setUserData()

void fcl::ContinuousCollisionObject::setUserData ( void *  data)
inline

set user data in object

References fcl::CollisionGeometry::user_data.

Member Data Documentation

◆ aabb

AABB fcl::ContinuousCollisionObject::aabb
mutableprotected

AABB in the global coordinate for the motion.

◆ cgeom

boost::shared_ptr<CollisionGeometry> fcl::ContinuousCollisionObject::cgeom
protected

◆ cgeom_const

boost::shared_ptr<const CollisionGeometry> fcl::ContinuousCollisionObject::cgeom_const
protected

◆ motion

boost::shared_ptr<MotionBase> fcl::ContinuousCollisionObject::motion
protected

◆ user_data

void* fcl::ContinuousCollisionObject::user_data
protected

pointer to user defined data specific to this object