the object for collision or distance computation, contains the geometry and the transform information More...

#include <hpp/fcl/collision_object.h>

Collaboration diagram for fcl::CollisionObject:

Public Member Functions
	CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_)

	CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Transform3f &tf)

	CollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const Matrix3f &R, const Vec3f &T)

	~CollisionObject ()

OBJECT_TYPE	getObjectType () const
	get the type of the object More...

NODE_TYPE	getNodeType () const
	get the node type More...

const AABB &	getAABB () const
	get the AABB in world space More...

void	computeAABB ()
	compute the AABB in world space More...

void *	getUserData () const
	get user data in object More...

void	setUserData (void *data)
	set user data in object More...

const Vec3f &	getTranslation () const
	get translation of the object More...

const Matrix3f &	getRotation () const
	get matrix rotation of the object More...

const Quaternion3f &	getQuatRotation () const
	get quaternion rotation of the object More...

const Transform3f &	getTransform () const
	get object's transform More...

void	setRotation (const Matrix3f &R)
	set object's rotation matrix More...

void	setTranslation (const Vec3f &T)
	set object's translation More...

void	setQuatRotation (const Quaternion3f &q)
	set object's quatenrion rotation More...

void	setTransform (const Matrix3f &R, const Vec3f &T)
	set object's transform More...

void	setTransform (const Quaternion3f &q, const Vec3f &T)
	set object's transform More...

void	setTransform (const Transform3f &tf)
	set object's transform More...

bool	isIdentityTransform () const
	whether the object is in local coordinate More...

void	setIdentityTransform ()
	set the object in local coordinate More...

const CollisionGeometry *	getCollisionGeometry () const FCL_DEPRECATED
	get geometry from the object instance More...

const boost::shared_ptr< const CollisionGeometry > &	collisionGeometry () const
	get geometry from the object instance More...

const boost::shared_ptr < CollisionGeometry > &	collisionGeometry ()
	get geometry from the object instance More...

FCL_REAL	getCostDensity () const
	get object's cost density More...

void	setCostDensity (FCL_REAL c)
	set object's cost density 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 is uncertain More...

Protected Attributes
boost::shared_ptr < CollisionGeometry >	cgeom

boost::shared_ptr< const CollisionGeometry >	cgeom_const

Transform3f	t

AABB	aabb
	AABB in global coordinate. More...

void *	user_data
	pointer to user defined data specific to this object More...

Detailed Description

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

Constructor & Destructor Documentation

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

inline

References cgeom, and computeAABB().

fcl::CollisionObject::CollisionObject	(	const boost::shared_ptr< CollisionGeometry > &	cgeom_,
		const Transform3f &	tf
	)

inline

References cgeom, and computeAABB().

fcl::CollisionObject::CollisionObject	(	const boost::shared_ptr< CollisionGeometry > &	cgeom_,
		const Matrix3f &	R,
		const Vec3f &	T
	)

inline

References cgeom, and computeAABB().

fcl::CollisionObject::~CollisionObject ( )

inline

Member Function Documentation

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

inline

get geometry from the object instance

References cgeom_const.

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

inline

get geometry from the object instance

References cgeom.

void fcl::CollisionObject::computeAABB ( )

inline

compute the AABB in world space

References aabb, cgeom, fcl::Transform3f::getQuatRotation(), fcl::Transform3f::getTranslation(), fcl::Quaternion3f::isIdentity(), fcl::AABB::max_, fcl::AABB::min_, t, fcl::Transform3f::transform(), and fcl::translate().

Referenced by CollisionObject().

const AABB& fcl::CollisionObject::getAABB ( ) const

inline

get the AABB in world space

References aabb.

Referenced by fcl::SpatialHashingCollisionManager< HashTable >::collide_(), fcl::SpatialHashingCollisionManager< HashTable >::distance_(), fcl::SpatialHashingCollisionManager< HashTable >::registerObject(), fcl::SpatialHashingCollisionManager< HashTable >::unregisterObject(), and fcl::SpatialHashingCollisionManager< HashTable >::update().

const CollisionGeometry* fcl::CollisionObject::getCollisionGeometry ( ) const

inline

get geometry from the object instance

References cgeom.

FCL_REAL fcl::CollisionObject::getCostDensity ( ) const

inline

get object's cost density

References cgeom.

NODE_TYPE fcl::CollisionObject::getNodeType ( ) const

inline

get the node type

References cgeom.

OBJECT_TYPE fcl::CollisionObject::getObjectType ( ) const

inline

get the type of the object

References cgeom.

const Quaternion3f& fcl::CollisionObject::getQuatRotation ( ) const

inline

get quaternion rotation of the object

References fcl::Transform3f::getQuatRotation(), and t.

const Matrix3f& fcl::CollisionObject::getRotation ( ) const

inline

get matrix rotation of the object

References fcl::Transform3f::getRotation(), and t.

const Transform3f& fcl::CollisionObject::getTransform ( ) const

inline

get object's transform

References t.

const Vec3f& fcl::CollisionObject::getTranslation ( ) const

inline

get translation of the object

References fcl::Transform3f::getTranslation(), and t.

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

inline

get user data in object

References user_data.

bool fcl::CollisionObject::isFree ( ) const

inline

whether the object is completely free

References cgeom.

bool fcl::CollisionObject::isIdentityTransform ( ) const

inline

whether the object is in local coordinate

References fcl::Transform3f::isIdentity(), and t.

bool fcl::CollisionObject::isOccupied ( ) const

inline

whether the object is completely occupied

References cgeom.

bool fcl::CollisionObject::isUncertain ( ) const

inline

whether the object is uncertain

References cgeom.

void fcl::CollisionObject::setCostDensity ( FCL_REAL c )

inline

set object's cost density

References cgeom.

void fcl::CollisionObject::setIdentityTransform ( )

inline

set the object in local coordinate

References fcl::Transform3f::setIdentity(), and t.

void fcl::CollisionObject::setQuatRotation ( const Quaternion3f & q )

inline

set object's quatenrion rotation

References fcl::Transform3f::setQuatRotation(), and t.

void fcl::CollisionObject::setRotation ( const Matrix3f & R )

inline

set object's rotation matrix

References fcl::Transform3f::setRotation(), and t.

void fcl::CollisionObject::setTransform	(	const Matrix3f &	R,
		const Vec3f &	T
	)

inline

set object's transform

References fcl::Transform3f::setTransform(), and t.

void fcl::CollisionObject::setTransform	(	const Quaternion3f &	q,
		const Vec3f &	T
	)

inline

set object's transform

References fcl::Transform3f::setTransform(), and t.

void fcl::CollisionObject::setTransform ( const Transform3f & tf )

inline

set object's transform

References t.

void fcl::CollisionObject::setTranslation ( const Vec3f & T )

inline

set object's translation

References fcl::Transform3f::setTranslation(), and t.

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

inline

set user data in object

References user_data.

Member Data Documentation

AABB fcl::CollisionObject::aabb

mutableprotected

AABB in global coordinate.

Referenced by computeAABB(), and getAABB().

boost::shared_ptr<CollisionGeometry> fcl::CollisionObject::cgeom

protected

Referenced by collisionGeometry(), CollisionObject(), computeAABB(), getCollisionGeometry(), getCostDensity(), getNodeType(), getObjectType(), isFree(), isOccupied(), isUncertain(), and setCostDensity().

boost::shared_ptr<const CollisionGeometry> fcl::CollisionObject::cgeom_const

protected

Referenced by collisionGeometry().

Transform3f fcl::CollisionObject::t

protected

Referenced by computeAABB(), getQuatRotation(), getRotation(), getTransform(), getTranslation(), isIdentityTransform(), setIdentityTransform(), setQuatRotation(), setRotation(), setTransform(), and setTranslation().

void* fcl::CollisionObject::user_data

protected

pointer to user defined data specific to this object

Referenced by getUserData(), and setUserData().

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation