coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
coal::CollisionGeometry Class Referenceabstract

The geometry for the object for collision or distance computation. More...

#include <coal/collision_object.h>

Inheritance diagram for coal::CollisionGeometry:
Collaboration diagram for coal::CollisionGeometry:

Public Member Functions

 CollisionGeometry ()
 
 CollisionGeometry (const CollisionGeometry &other)=default
 Copy constructor. More...
 
virtual ~CollisionGeometry ()
 
virtual CollisionGeometryclone () const =0
 Clone *this into a new CollisionGeometry. More...
 
bool operator== (const CollisionGeometry &other) const
 Equality operator. More...
 
bool operator!= (const CollisionGeometry &other) const
 Difference operator. More...
 
virtual OBJECT_TYPE getObjectType () const
 get the type of the object More...
 
virtual NODE_TYPE getNodeType () const
 get the node type More...
 
virtual void computeLocalAABB ()=0
 compute the AABB for object in local coordinate More...
 
void * getUserData () const
 get user data in geometry More...
 
void setUserData (void *data)
 set user data in geometry More...
 
bool isOccupied () const
 whether the object is completely occupied More...
 
bool isFree () const
 whether the object is completely free More...
 
bool isUncertain () const
 whether the object has some uncertainty More...
 
virtual Vec3s computeCOM () const
 compute center of mass More...
 
virtual Matrix3s computeMomentofInertia () const
 compute the inertia matrix, related to the origin More...
 
virtual Scalar computeVolume () const
 compute the volume More...
 
virtual Matrix3s computeMomentofInertiaRelatedToCOM () const
 compute the inertia matrix, related to the com More...
 

Public Attributes

Vec3s aabb_center
 AABB center in local coordinate. More...
 
Scalar aabb_radius
 AABB radius. More...
 
AABB aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform. More...
 
void * user_data
 pointer to user defined data specific to this object More...
 
Scalar cost_density
 collision cost for unit volume More...
 
Scalar threshold_occupied
 threshold for occupied ( >= is occupied) More...
 
Scalar threshold_free
 threshold for free (<= is free) More...
 

Detailed Description

The geometry for the object for collision or distance computation.


The documentation for this class was generated from the following file: