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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/collision_object.h	Lines:	63	82	76.8 %
Date:	2024-02-09 12:57:42	Branches:	79	166	47.6 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

#ifndef HPP_FCL_COLLISION_OBJECT_BASE_H
#define HPP_FCL_COLLISION_OBJECT_BASE_H

#include <limits>
#include <typeinfo>

#include <hpp/fcl/deprecated.hh>
#include <hpp/fcl/fwd.hh>
#include <hpp/fcl/BV/AABB.h>
#include <hpp/fcl/math/transform.h>

namespace hpp {
namespace fcl {

/// @brief object type: BVH (mesh, points), basic geometry, octree
enum OBJECT_TYPE {
  OT_UNKNOWN,
  OT_BVH,
  OT_GEOM,
  OT_OCTREE,
  OT_HFIELD,
  OT_COUNT
};

/// @brief traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS,
/// KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone,
/// cylinder, convex, plane, triangle), and octree
enum NODE_TYPE {
  BV_UNKNOWN,
  BV_AABB,
  BV_OBB,
  BV_RSS,
  BV_kIOS,
  BV_OBBRSS,
  BV_KDOP16,
  BV_KDOP18,
  BV_KDOP24,
  GEOM_BOX,
  GEOM_SPHERE,
  GEOM_CAPSULE,
  GEOM_CONE,
  GEOM_CYLINDER,
  GEOM_CONVEX,
  GEOM_PLANE,
  GEOM_HALFSPACE,
  GEOM_TRIANGLE,
  GEOM_OCTREE,
  GEOM_ELLIPSOID,
  HF_AABB,
  HF_OBBRSS,
  NODE_COUNT
};

/// @addtogroup Construction_Of_BVH
/// @{

/// @brief The geometry for the object for collision or distance computation
class HPP_FCL_DLLAPI CollisionGeometry {
 public:
  CollisionGeometry()
      : aabb_center(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)())),
        aabb_radius(-1),
        cost_density(1),
        threshold_occupied(1),
        threshold_free(0) {}

  /// \brief Copy constructor
  CollisionGeometry(const CollisionGeometry& other) = default;

  virtual ~CollisionGeometry() {}

  /// @brief Clone *this into a new CollisionGeometry
  virtual CollisionGeometry* clone() const = 0;

  /// \brief Equality operator
  bool operator==(const CollisionGeometry& other) const {
    return cost_density == other.cost_density &&
           threshold_occupied == other.threshold_occupied &&
           threshold_free == other.threshold_free &&
           aabb_center == other.aabb_center &&
           aabb_radius == other.aabb_radius && aabb_local == other.aabb_local &&
           isEqual(other);
  }

  /// \brief Difference operator
  bool operator!=(const CollisionGeometry& other) const {
    return isNotEqual(other);
  }

  /// @brief get the type of the object
  virtual OBJECT_TYPE getObjectType() const { return OT_UNKNOWN; }

  /// @brief get the node type
  virtual NODE_TYPE getNodeType() const { return BV_UNKNOWN; }

  /// @brief compute the AABB for object in local coordinate
  virtual void computeLocalAABB() = 0;

  /// @brief get user data in geometry
  void* getUserData() const { return user_data; }

  /// @brief set user data in geometry
  void setUserData(void* data) { user_data = data; }

  /// @brief whether the object is completely occupied
  inline bool isOccupied() const { return cost_density >= threshold_occupied; }

  /// @brief whether the object is completely free
  inline bool isFree() const { return cost_density <= threshold_free; }

  /// @brief whether the object has some uncertainty
  bool isUncertain() const;

  /// @brief AABB center in local coordinate
  Vec3f aabb_center;

  /// @brief AABB radius
  FCL_REAL aabb_radius;

  /// @brief AABB in local coordinate, used for tight AABB when only translation
  /// transform
  AABB aabb_local;

  /// @brief pointer to user defined data specific to this object
  void* user_data;

  /// @brief collision cost for unit volume
  FCL_REAL cost_density;

  /// @brief threshold for occupied ( >= is occupied)
  FCL_REAL threshold_occupied;

  /// @brief threshold for free (<= is free)
  FCL_REAL threshold_free;

  /// @brief compute center of mass
  virtual Vec3f computeCOM() const { return Vec3f::Zero(); }

  /// @brief compute the inertia matrix, related to the origin
  virtual Matrix3f computeMomentofInertia() const {
    return Matrix3f::Constant(NAN);
  }

  /// @brief compute the volume
  virtual FCL_REAL computeVolume() const { return 0; }

  /// @brief compute the inertia matrix, related to the com
  virtual Matrix3f computeMomentofInertiaRelatedToCOM() const {
    Matrix3f C = computeMomentofInertia();
    Vec3f com = computeCOM();
    FCL_REAL V = computeVolume();

    return (Matrix3f() << C(0, 0) - V * (com[1] * com[1] + com[2] * com[2]),
            C(0, 1) + V * com[0] * com[1], C(0, 2) + V * com[0] * com[2],
            C(1, 0) + V * com[1] * com[0],
            C(1, 1) - V * (com[0] * com[0] + com[2] * com[2]),
            C(1, 2) + V * com[1] * com[2], C(2, 0) + V * com[2] * com[0],
            C(2, 1) + V * com[2] * com[1],
            C(2, 2) - V * (com[0] * com[0] + com[1] * com[1]))
        .finished();
  }

 private:
  /// @brief equal operator with another object of derived type.
  virtual bool isEqual(const CollisionGeometry& other) const = 0;

  /// @brief not equal operator with another object of derived type.
  virtual bool isNotEqual(const CollisionGeometry& other) const {
    return !(*this == other);
  }

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

/// @brief the object for collision or distance computation, contains the
/// geometry and the transform information
class HPP_FCL_DLLAPI CollisionObject {
 public:
  CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
                  bool compute_local_aabb = true)
      : cgeom(cgeom_), user_data(nullptr) {
    init(compute_local_aabb);
  }

  CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
                  const Transform3f& tf, bool compute_local_aabb = true)
      : cgeom(cgeom_), t(tf), user_data(nullptr) {
    init(compute_local_aabb);
  }

  CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
                  const Matrix3f& R, const Vec3f& T,
                  bool compute_local_aabb = true)
      : cgeom(cgeom_), t(R, T), user_data(nullptr) {
    init(compute_local_aabb);
  }

  bool operator==(const CollisionObject& other) const {
    return cgeom == other.cgeom && t == other.t && user_data == other.user_data;
  }

  bool operator!=(const CollisionObject& other) const {
    return !(*this == other);
  }

  ~CollisionObject() {}

  /// @brief get the type of the object
  OBJECT_TYPE getObjectType() const { return cgeom->getObjectType(); }

  /// @brief get the node type
  NODE_TYPE getNodeType() const { return cgeom->getNodeType(); }

  /// @brief get the AABB in world space
  const AABB& getAABB() const { return aabb; }

  /// @brief get the AABB in world space
  AABB& getAABB() { return aabb; }

  /// @brief compute the AABB in world space
  void computeAABB() {
    if (t.getRotation().isIdentity()) {
      aabb = translate(cgeom->aabb_local, t.getTranslation());
    } else {
      Vec3f center(t.transform(cgeom->aabb_center));
      Vec3f delta(Vec3f::Constant(cgeom->aabb_radius));
      aabb.min_ = center - delta;
      aabb.max_ = center + delta;
    }
  }

  /// @brief get user data in object
  void* getUserData() const { return user_data; }

  /// @brief set user data in object
  void setUserData(void* data) { user_data = data; }

  /// @brief get translation of the object
  inline const Vec3f& getTranslation() const { return t.getTranslation(); }

  /// @brief get matrix rotation of the object
  inline const Matrix3f& getRotation() const { return t.getRotation(); }

  /// @brief get object's transform
  inline const Transform3f& getTransform() const { return t; }

  /// @brief set object's rotation matrix
  void setRotation(const Matrix3f& R) { t.setRotation(R); }

  /// @brief set object's translation
  void setTranslation(const Vec3f& T) { t.setTranslation(T); }

  /// @brief set object's transform
  void setTransform(const Matrix3f& R, const Vec3f& T) { t.setTransform(R, T); }

  /// @brief set object's transform
  void setTransform(const Transform3f& tf) { t = tf; }

  /// @brief whether the object is in local coordinate
  bool isIdentityTransform() const { return t.isIdentity(); }

  /// @brief set the object in local coordinate
  void setIdentityTransform() { t.setIdentity(); }

  /// @brief get shared pointer to collision geometry of the object instance
  const shared_ptr<const CollisionGeometry> collisionGeometry() const {
    return cgeom;
  }

  /// @brief get shared pointer to collision geometry of the object instance
  const shared_ptr<CollisionGeometry>& collisionGeometry() { return cgeom; }

  /// @brief get raw pointer to collision geometry of the object instance
  const CollisionGeometry* collisionGeometryPtr() const { return cgeom.get(); }

  /// @brief get raw pointer to collision geometry of the object instance
  CollisionGeometry* collisionGeometryPtr() { return cgeom.get(); }

  /// @brief Associate a new CollisionGeometry
  ///
  /// @param[in] collision_geometry The new CollisionGeometry
  /// @param[in] compute_local_aabb Whether the local aabb of the input new has
  /// to be computed.
  ///
  void setCollisionGeometry(
      const shared_ptr<CollisionGeometry>& collision_geometry,
      bool compute_local_aabb = true) {
    if (collision_geometry.get() != cgeom.get()) {
      cgeom = collision_geometry;
      init(compute_local_aabb);
    }
  }

 protected:
  void init(bool compute_local_aabb = true) {
    if (cgeom) {
      if (compute_local_aabb) cgeom->computeLocalAABB();
      computeAABB();
    }
  }

  shared_ptr<CollisionGeometry> cgeom;

  Transform3f t;

  /// @brief AABB in global coordinate
  mutable AABB aabb;

  /// @brief pointer to user defined data specific to this object
  void* user_data;
};

}  // namespace fcl

}  // namespace hpp

#endif


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Jia Pan */
37
38			#ifndef HPP_FCL_COLLISION_OBJECT_BASE_H
39			#define HPP_FCL_COLLISION_OBJECT_BASE_H
40
41			#include <limits>
42			#include <typeinfo>
43
44			#include <hpp/fcl/deprecated.hh>
45			#include <hpp/fcl/fwd.hh>
46			#include <hpp/fcl/BV/AABB.h>
47			#include <hpp/fcl/math/transform.h>
48
49			namespace hpp {
50			namespace fcl {
51
52			/// @brief object type: BVH (mesh, points), basic geometry, octree
53			enum OBJECT_TYPE {
54			OT_UNKNOWN,
55			OT_BVH,
56			OT_GEOM,
57			OT_OCTREE,
58			OT_HFIELD,
59			OT_COUNT
60			};
61
62			/// @brief traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS,
63			/// KDOP16, KDOP18, kDOP24), basic shape (box, sphere, ellipsoid, capsule, cone,
64			/// cylinder, convex, plane, triangle), and octree
65			enum NODE_TYPE {
66			BV_UNKNOWN,
67			BV_AABB,
68			BV_OBB,
69			BV_RSS,
70			BV_kIOS,
71			BV_OBBRSS,
72			BV_KDOP16,
73			BV_KDOP18,
74			BV_KDOP24,
75			GEOM_BOX,
76			GEOM_SPHERE,
77			GEOM_CAPSULE,
78			GEOM_CONE,
79			GEOM_CYLINDER,
80			GEOM_CONVEX,
81			GEOM_PLANE,
82			GEOM_HALFSPACE,
83			GEOM_TRIANGLE,
84			GEOM_OCTREE,
85			GEOM_ELLIPSOID,
86			HF_AABB,
87			HF_OBBRSS,
88			NODE_COUNT
89			};
90
91			/// @addtogroup Construction_Of_BVH
92			/// @{
93
94			/// @brief The geometry for the object for collision or distance computation
95			class HPP_FCL_DLLAPI CollisionGeometry {
96			public:
97		116890211	CollisionGeometry()
98	✓✗	116890211	: aabb_center(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)())),
99			aabb_radius(-1),
100			cost_density(1),
101			threshold_occupied(1),
102	✓✗	233780422	threshold_free(0) {}
103
104			/// \brief Copy constructor
105		84	CollisionGeometry(const CollisionGeometry& other) = default;
106
107		233780318	virtual ~CollisionGeometry() {}
108
109			/// @brief Clone *this into a new CollisionGeometry
110			virtual CollisionGeometry* clone() const = 0;
111
112			/// \brief Equality operator
113		88	bool operator==(const CollisionGeometry& other) const {
114		176	return cost_density == other.cost_density &&
115	✓✗	88	threshold_occupied == other.threshold_occupied &&
116	✓✗	88	threshold_free == other.threshold_free &&
117	✓✗	88	aabb_center == other.aabb_center &&
118	✓✗✓✗ ✓✗	264	aabb_radius == other.aabb_radius && aabb_local == other.aabb_local &&
119	✓✓	176	isEqual(other);
120			}
121
122			/// \brief Difference operator
123		1	bool operator!=(const CollisionGeometry& other) const {
124		1	return isNotEqual(other);
125			}
126
127			/// @brief get the type of the object
128			virtual OBJECT_TYPE getObjectType() const { return OT_UNKNOWN; }
129
130			/// @brief get the node type
131			virtual NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
132
133			/// @brief compute the AABB for object in local coordinate
134			virtual void computeLocalAABB() = 0;
135
136			/// @brief get user data in geometry
137			void* getUserData() const { return user_data; }
138
139			/// @brief set user data in geometry
140			void setUserData(void* data) { user_data = data; }
141
142			/// @brief whether the object is completely occupied
143		28982	inline bool isOccupied() const { return cost_density >= threshold_occupied; }
144
145			/// @brief whether the object is completely free
146			inline bool isFree() const { return cost_density <= threshold_free; }
147
148			/// @brief whether the object has some uncertainty
149			bool isUncertain() const;
150
151			/// @brief AABB center in local coordinate
152			Vec3f aabb_center;
153
154			/// @brief AABB radius
155			FCL_REAL aabb_radius;
156
157			/// @brief AABB in local coordinate, used for tight AABB when only translation
158			/// transform
159			AABB aabb_local;
160
161			/// @brief pointer to user defined data specific to this object
162			void* user_data;
163
164			/// @brief collision cost for unit volume
165			FCL_REAL cost_density;
166
167			/// @brief threshold for occupied ( >= is occupied)
168			FCL_REAL threshold_occupied;
169
170			/// @brief threshold for free (<= is free)
171			FCL_REAL threshold_free;
172
173			/// @brief compute center of mass
174	✓✗	16	virtual Vec3f computeCOM() const { return Vec3f::Zero(); }
175
176			/// @brief compute the inertia matrix, related to the origin
177			virtual Matrix3f computeMomentofInertia() const {
178			return Matrix3f::Constant(NAN);
179			}
180
181			/// @brief compute the volume
182			virtual FCL_REAL computeVolume() const { return 0; }
183
184			/// @brief compute the inertia matrix, related to the com
185		5	virtual Matrix3f computeMomentofInertiaRelatedToCOM() const {
186	✓✗	5	Matrix3f C = computeMomentofInertia();
187	✓✗	5	Vec3f com = computeCOM();
188	✓✗	5	FCL_REAL V = computeVolume();
189
190	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	10	return (Matrix3f() << C(0, 0) - V * (com[1] * com[1] + com[2] * com[2]),
191	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗	5	C(0, 1) + V * com[0] * com[1], C(0, 2) + V * com[0] * com[2],
192	✓✗✓✗ ✓✗✓✗	5	C(1, 0) + V * com[1] * com[0],
193	✓✗✓✗ ✓✗✓✗ ✓✗✓✗	5	C(1, 1) - V * (com[0] * com[0] + com[2] * com[2]),
194	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗	5	C(1, 2) + V * com[1] * com[2], C(2, 0) + V * com[2] * com[0],
195	✓✗✓✗ ✓✗✓✗	5	C(2, 1) + V * com[2] * com[1],
196	✓✗✓✗ ✓✗✓✗ ✓✗✓✗	10	C(2, 2) - V * (com[0] * com[0] + com[1] * com[1]))
197	✓✗✓✗	10	.finished();
198			}
199
200			private:
201			/// @brief equal operator with another object of derived type.
202			virtual bool isEqual(const CollisionGeometry& other) const = 0;
203
204			/// @brief not equal operator with another object of derived type.
205		1	virtual bool isNotEqual(const CollisionGeometry& other) const {
206		1	return !(*this == other);
207			}
208
209			public:
210		11316	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
211			};
212
213			/// @brief the object for collision or distance computation, contains the
214			/// geometry and the transform information
215			class HPP_FCL_DLLAPI CollisionObject {
216			public:
217		6966	CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
218			bool compute_local_aabb = true)
219	✓✗✓✗	6966	: cgeom(cgeom_), user_data(nullptr) {
220	✓✗	6966	init(compute_local_aabb);
221		6966	}
222
223		38485	CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
224			const Transform3f& tf, bool compute_local_aabb = true)
225	✓✗✓✗	38485	: cgeom(cgeom_), t(tf), user_data(nullptr) {
226	✓✗	38485	init(compute_local_aabb);
227		38485	}
228
229			CollisionObject(const shared_ptr<CollisionGeometry>& cgeom_,
230			const Matrix3f& R, const Vec3f& T,
231			bool compute_local_aabb = true)
232			: cgeom(cgeom_), t(R, T), user_data(nullptr) {
233			init(compute_local_aabb);
234			}
235
236			bool operator==(const CollisionObject& other) const {
237			return cgeom == other.cgeom && t == other.t && user_data == other.user_data;
238			}
239
240			bool operator!=(const CollisionObject& other) const {
241			return !(*this == other);
242			}
243
244		45315	~CollisionObject() {}
245
246			/// @brief get the type of the object
247			OBJECT_TYPE getObjectType() const { return cgeom->getObjectType(); }
248
249			/// @brief get the node type
250			NODE_TYPE getNodeType() const { return cgeom->getNodeType(); }
251
252			/// @brief get the AABB in world space
253		1229844	const AABB& getAABB() const { return aabb; }
254
255			/// @brief get the AABB in world space
256		6795084	AABB& getAABB() { return aabb; }
257
258			/// @brief compute the AABB in world space
259		39839	void computeAABB() {
260	✓✗✓✓	39839	if (t.getRotation().isIdentity()) {
261	✓✗	7525	aabb = translate(cgeom->aabb_local, t.getTranslation());
262			} else {
263	✓✗	32314	Vec3f center(t.transform(cgeom->aabb_center));
264	✓✗✓✗	32314	Vec3f delta(Vec3f::Constant(cgeom->aabb_radius));
265	✓✗✓✗	32314	aabb.min_ = center - delta;
266	✓✗✓✗	32314	aabb.max_ = center + delta;
267			}
268		39839	}
269
270			/// @brief get user data in object
271			void* getUserData() const { return user_data; }
272
273			/// @brief set user data in object
274			void setUserData(void* data) { user_data = data; }
275
276			/// @brief get translation of the object
277		1344	inline const Vec3f& getTranslation() const { return t.getTranslation(); }
278
279			/// @brief get matrix rotation of the object
280		1344	inline const Matrix3f& getRotation() const { return t.getRotation(); }
281
282			/// @brief get object's transform
283		2503782	inline const Transform3f& getTransform() const { return t; }
284
285			/// @brief set object's rotation matrix
286			void setRotation(const Matrix3f& R) { t.setRotation(R); }
287
288			/// @brief set object's translation
289		2	void setTranslation(const Vec3f& T) { t.setTranslation(T); }
290
291			/// @brief set object's transform
292		1344	void setTransform(const Matrix3f& R, const Vec3f& T) { t.setTransform(R, T); }
293
294			/// @brief set object's transform
295		4	void setTransform(const Transform3f& tf) { t = tf; }
296
297			/// @brief whether the object is in local coordinate
298			bool isIdentityTransform() const { return t.isIdentity(); }
299
300			/// @brief set the object in local coordinate
301			void setIdentityTransform() { t.setIdentity(); }
302
303			/// @brief get shared pointer to collision geometry of the object instance
304			const shared_ptr<const CollisionGeometry> collisionGeometry() const {
305			return cgeom;
306			}
307
308			/// @brief get shared pointer to collision geometry of the object instance
309		32822	const shared_ptr<CollisionGeometry>& collisionGeometry() { return cgeom; }
310
311			/// @brief get raw pointer to collision geometry of the object instance
312		2503782	const CollisionGeometry* collisionGeometryPtr() const { return cgeom.get(); }
313
314			/// @brief get raw pointer to collision geometry of the object instance
315			CollisionGeometry* collisionGeometryPtr() { return cgeom.get(); }
316
317			/// @brief Associate a new CollisionGeometry
318			///
319			/// @param[in] collision_geometry The new CollisionGeometry
320			/// @param[in] compute_local_aabb Whether the local aabb of the input new has
321			/// to be computed.
322			///
323			void setCollisionGeometry(
324			const shared_ptr<CollisionGeometry>& collision_geometry,
325			bool compute_local_aabb = true) {
326			if (collision_geometry.get() != cgeom.get()) {
327			cgeom = collision_geometry;
328			init(compute_local_aabb);
329			}
330			}
331
332			protected:
333		45451	void init(bool compute_local_aabb = true) {
334	✓✓	45451	if (cgeom) {
335	✓✗	38493	if (compute_local_aabb) cgeom->computeLocalAABB();
336		38493	computeAABB();
337			}
338		45451	}
339
340			shared_ptr<CollisionGeometry> cgeom;
341
342			Transform3f t;
343
344			/// @brief AABB in global coordinate
345			mutable AABB aabb;
346
347			/// @brief pointer to user defined data specific to this object
348			void* user_data;
349			};
350
351			} // namespace fcl
352
353			} // namespace hpp
354
355			#endif