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fcl::ContinuousCollisionObject Class Reference

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

#include <hpp/fcl/collision_object.h>

Collaboration diagram for fcl::ContinuousCollisionObject:

Public Member Functions

 ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_)
 
 ContinuousCollisionObject (const boost::shared_ptr< CollisionGeometry > &cgeom_, const boost::shared_ptr< MotionBase > &motion_)
 
 ~ContinuousCollisionObject ()
 
OBJECT_TYPE getObjectType () const
 get the type of the object More...
 
NODE_TYPE getNodeType () const
 get the node type More...
 
const AABBgetAABB () const
 get the AABB in the world space for the motion More...
 
void computeAABB ()
 compute the AABB in the world space for the motion More...
 
void * getUserData () const
 get user data in object More...
 
void setUserData (void *data)
 set user data in object More...
 
MotionBasegetMotion () const
 get motion from the object instance More...
 
const CollisionGeometrygetCollisionGeometry () 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...
 

Protected Attributes

boost::shared_ptr
< CollisionGeometry
cgeom
 
boost::shared_ptr< const
CollisionGeometry
cgeom_const
 
boost::shared_ptr< MotionBasemotion
 
AABB aabb
 AABB in the global coordinate for the motion. More...
 
void * user_data
 pointer to user defined data specific to this object More...
 

Detailed Description

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

Constructor & Destructor Documentation

fcl::ContinuousCollisionObject::ContinuousCollisionObject ( const boost::shared_ptr< CollisionGeometry > &  cgeom_)
inline
fcl::ContinuousCollisionObject::ContinuousCollisionObject ( const boost::shared_ptr< CollisionGeometry > &  cgeom_,
const boost::shared_ptr< MotionBase > &  motion_ 
)
inline
fcl::ContinuousCollisionObject::~ContinuousCollisionObject ( )
inline

Member Function Documentation

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

get geometry from the object instance

References cgeom_const.

void fcl::ContinuousCollisionObject::computeAABB ( )
inline

compute the AABB in the world space for the motion

References aabb, fcl::bound(), cgeom, fcl::IVector3::getHigh(), fcl::IVector3::getLow(), fcl::AABB::max_, fcl::AABB::min_, and motion.

const AABB& fcl::ContinuousCollisionObject::getAABB ( ) const
inline

get the AABB in the world space for the motion

References aabb.

const CollisionGeometry* fcl::ContinuousCollisionObject::getCollisionGeometry ( ) const
inline

get geometry from the object instance

References cgeom.

MotionBase* fcl::ContinuousCollisionObject::getMotion ( ) const
inline

get motion from the object instance

References motion.

NODE_TYPE fcl::ContinuousCollisionObject::getNodeType ( ) const
inline

get the node type

References cgeom.

OBJECT_TYPE fcl::ContinuousCollisionObject::getObjectType ( ) const
inline

get the type of the object

References cgeom.

void* fcl::ContinuousCollisionObject::getUserData ( ) const
inline

get user data in object

References user_data.

void fcl::ContinuousCollisionObject::setUserData ( void *  data)
inline

set user data in object

References user_data.

Member Data Documentation

AABB fcl::ContinuousCollisionObject::aabb
mutableprotected

AABB in the global coordinate for the motion.

Referenced by computeAABB(), and getAABB().

boost::shared_ptr<CollisionGeometry> fcl::ContinuousCollisionObject::cgeom
protected
boost::shared_ptr<const CollisionGeometry> fcl::ContinuousCollisionObject::cgeom_const
protected

Referenced by collisionGeometry().

boost::shared_ptr<MotionBase> fcl::ContinuousCollisionObject::motion
protected

Referenced by computeAABB(), and getMotion().

void* fcl::ContinuousCollisionObject::user_data
protected

pointer to user defined data specific to this object

Referenced by getUserData(), and setUserData().