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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. | |
| virtual | ~CollisionGeometry () |
| virtual CollisionGeometry * | clone () const =0 |
| Clone *this into a new CollisionGeometry. | |
| bool | operator== (const CollisionGeometry &other) const |
| Equality operator. | |
| bool | operator!= (const CollisionGeometry &other) const |
| Difference operator. | |
| virtual OBJECT_TYPE | getObjectType () const |
| get the type of the object | |
| virtual NODE_TYPE | getNodeType () const |
| get the node type | |
| virtual void | computeLocalAABB ()=0 |
| compute the AABB for object in local coordinate | |
| void * | getUserData () const |
| get user data in geometry | |
| void | setUserData (void *data) |
| set user data in geometry | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isUncertain () const |
| whether the object has some uncertainty | |
| virtual Vec3s | computeCOM () const |
| compute center of mass | |
| virtual Matrix3s | computeMomentofInertia () const |
| compute the inertia matrix, related to the origin | |
| virtual Scalar | computeVolume () const |
| compute the volume | |
| virtual Matrix3s | computeMomentofInertiaRelatedToCOM () const |
| compute the inertia matrix, related to the com | |
Public Attributes | |
| Vec3s | aabb_center |
| AABB center in local coordinate. | |
| Scalar | aabb_radius |
| AABB radius. | |
| AABB | aabb_local |
| AABB in local coordinate, used for tight AABB when only translation transform. | |
| void * | user_data |
| pointer to user defined data specific to this object | |
| Scalar | cost_density |
| collision cost for unit volume | |
| Scalar | threshold_occupied |
| threshold for occupied ( >= is occupied) | |
| Scalar | threshold_free |
| threshold for free (<= is free) | |
Detailed Description
The geometry for the object for collision or distance computation.
The documentation for this class was generated from the following file:
- include/coal/collision_object.h
