Base class for all basic geometric shapes. More...

#include <hpp/fcl/shape/geometric_shapes.h>

Inheritance diagram for fcl::ShapeBase:

Collaboration diagram for fcl::ShapeBase:

Public Member Functions
	ShapeBase ()

OBJECT_TYPE	getObjectType () const
	Get object type: a geometric shape. More...

Public Member Functions inherited from fcl::CollisionGeometry
	CollisionGeometry ()

virtual	~CollisionGeometry ()

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...

Additional Inherited Members
Public Attributes inherited from fcl::CollisionGeometry
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

Base class for all basic geometric shapes.

Constructor & Destructor Documentation

fcl::ShapeBase::ShapeBase ( )

inline

OBJECT_TYPE fcl::ShapeBase::getObjectType ( ) const

inlinevirtual

Get object type: a geometric shape.