fcl::CollisionGeometry Class Reference

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

#include <hpp/fcl/collision_object.h>

Inheritance diagram for fcl::CollisionGeometry:

Collaboration diagram for fcl::CollisionGeometry:

Public Member Functions
	CollisionGeometry ()
virtual	~CollisionGeometry ()
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 Vec3f	computeCOM () const
	compute center of mass More...
virtual Matrix3f	computeMomentofInertia () const
	compute the inertia matrix, related to the origin More...
virtual FCL_REAL	computeVolume () const
	compute the volume More...
virtual Matrix3f	computeMomentofInertiaRelatedToCOM () const
	compute the inertia matrix, related to the com More...

Public Attributes
Vec3f	aabb_center
	AABB center in local coordinate. More...
FCL_REAL	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...
FCL_REAL	cost_density
	collision cost for unit volume More...
FCL_REAL	threshold_occupied
	threshold for occupied ( >= is occupied) More...
FCL_REAL	threshold_free
	threshold for free (<= is free) More...

Detailed Description

The geometry for the object for collision or distance computation.

Constructor & Destructor Documentation

fcl::CollisionGeometry::CollisionGeometry ( )

inline

virtual fcl::CollisionGeometry::~CollisionGeometry ( )

inlinevirtual

Member Function Documentation

virtual Vec3f fcl::CollisionGeometry::computeCOM ( ) const

inlinevirtual

compute center of mass

Reimplemented in fcl::Convex, fcl::Cone, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, and fcl::BVHModel< OBBRSS >.

Referenced by computeMomentofInertiaRelatedToCOM().

virtual void fcl::CollisionGeometry::computeLocalAABB ( )

pure virtual

compute the AABB for object in local coordinate

Implemented in fcl::Plane, fcl::Halfspace, fcl::Convex, fcl::Cylinder, fcl::Cone, fcl::Capsule, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Sphere, fcl::OcTree, fcl::Box, and fcl::TriangleP.

virtual Matrix3f fcl::CollisionGeometry::computeMomentofInertia ( ) const

inlinevirtual

compute the inertia matrix, related to the origin

Reimplemented in fcl::Convex, fcl::Cylinder, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Cone, fcl::Capsule, fcl::Sphere, and fcl::Box.

Referenced by computeMomentofInertiaRelatedToCOM().

virtual Matrix3f fcl::CollisionGeometry::computeMomentofInertiaRelatedToCOM ( ) const

inlinevirtual

compute the inertia matrix, related to the com

References computeCOM(), computeMomentofInertia(), and computeVolume().

virtual FCL_REAL fcl::CollisionGeometry::computeVolume ( ) const

inlinevirtual

compute the volume

Reimplemented in fcl::Convex, fcl::Cylinder, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Cone, fcl::Capsule, fcl::Sphere, and fcl::Box.

Referenced by computeMomentofInertiaRelatedToCOM().

virtual NODE_TYPE fcl::CollisionGeometry::getNodeType ( ) const

inlinevirtual

get the node type

Reimplemented in fcl::Plane, fcl::Halfspace, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::BVHModel< BV >, fcl::Convex, fcl::Cylinder, fcl::Cone, fcl::OcTree, fcl::Capsule, fcl::Sphere, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, fcl::Box, and fcl::TriangleP.

References fcl::BV_UNKNOWN.

virtual OBJECT_TYPE fcl::CollisionGeometry::getObjectType ( ) const

inlinevirtual

get the type of the object

Reimplemented in fcl::OcTree, fcl::BVHModel< BV >, fcl::BVHModel< OBB >, fcl::BVHModel< kIOS >, fcl::BVHModel< RSS >, fcl::BVHModel< OBBRSS >, and fcl::ShapeBase.

References fcl::OT_UNKNOWN.

void* fcl::CollisionGeometry::getUserData ( ) const

inline

get user data in geometry

References user_data.

bool fcl::CollisionGeometry::isFree ( ) const

inline

whether the object is completely free

References cost_density, and threshold_free.

Referenced by isUncertain().

bool fcl::CollisionGeometry::isOccupied ( ) const

inline

whether the object is completely occupied

References cost_density, and threshold_occupied.

Referenced by isUncertain().

bool fcl::CollisionGeometry::isUncertain ( ) const

inline

whether the object has some uncertainty

References isFree(), and isOccupied().

void fcl::CollisionGeometry::setUserData ( void *  data )

inline

set user data in geometry

References user_data.

Member Data Documentation

Vec3f fcl::CollisionGeometry::aabb_center

AABB center in local coordinate.

Referenced by fcl::OcTree::computeLocalAABB().

AABB fcl::CollisionGeometry::aabb_local

AABB in local coordinate, used for tight AABB when only translation transform.

Referenced by fcl::OcTree::computeLocalAABB().

FCL_REAL fcl::CollisionGeometry::aabb_radius

AABB radius.

Referenced by fcl::OcTree::computeLocalAABB().

FCL_REAL fcl::CollisionGeometry::cost_density

collision cost for unit volume

Referenced by fcl::initialize(), isFree(), and isOccupied().

FCL_REAL fcl::CollisionGeometry::threshold_free

threshold for free (<= is free)

Referenced by isFree().

FCL_REAL fcl::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

Referenced by isOccupied().

void* fcl::CollisionGeometry::user_data

pointer to user defined data specific to this object

Referenced by getUserData(), and setUserData().