hpp::fcl::CollisionGeometry Class Reference

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

#include <hpp/fcl/collision_object.h>

Inheritance diagram for hpp::fcl::CollisionGeometry:

Collaboration diagram for hpp::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 HPP_FCL_DEPRECATED
	whether the object is completely occupied More...
bool	isFree () const HPP_FCL_DEPRECATED
	whether the object is completely free More...
bool	isUncertain () const HPP_FCL_DEPRECATED
	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

hpp::fcl::CollisionGeometry::CollisionGeometry ( )

inline

virtual hpp::fcl::CollisionGeometry::~CollisionGeometry ( )

inlinevirtual

Member Function Documentation

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

inlinevirtual

compute center of mass

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

Referenced by computeMomentofInertiaRelatedToCOM().

virtual void hpp::fcl::CollisionGeometry::computeLocalAABB ( )

pure virtual

compute the AABB for object in local coordinate

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

Referenced by hpp::fcl::Halfspace::distance(), hpp::fcl::Plane::distance(), getNodeType(), hpp::fcl::TriangleP::TriangleP(), and hpp::fcl::Convex::~Convex().

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

inlinevirtual

compute the inertia matrix, related to the origin

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

Referenced by computeMomentofInertiaRelatedToCOM().

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

inlinevirtual

compute the inertia matrix, related to the com

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

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

inlinevirtual

compute the volume

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

Referenced by hpp::fcl::Box::computeMomentofInertia(), hpp::fcl::Sphere::computeMomentofInertia(), hpp::fcl::Cone::computeMomentofInertia(), hpp::fcl::Cylinder::computeMomentofInertia(), and computeMomentofInertiaRelatedToCOM().

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

inlinevirtual

get the node type

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

References hpp::fcl::BV_UNKNOWN, and computeLocalAABB().

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

inlinevirtual

get the type of the object

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

References hpp::fcl::OT_UNKNOWN.

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

inline

get user data in geometry

References user_data.

bool hpp::fcl::CollisionGeometry::isFree ( ) const

inline

whether the object is completely free

References cost_density, isUncertain(), and threshold_free.

bool hpp::fcl::CollisionGeometry::isOccupied ( ) const

inline

whether the object is completely occupied

References cost_density, and threshold_occupied.

bool hpp::fcl::CollisionGeometry::isUncertain

(

)

const

whether the object has some uncertainty

Referenced by isFree(), and hpp::fcl::OcTreeSolver< NarrowPhaseSolver >::ShapeOcTreeDistance().

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

inline

set user data in geometry

References user_data.

Member Data Documentation

Vec3f hpp::fcl::CollisionGeometry::aabb_center

AABB center in local coordinate.

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

AABB hpp::fcl::CollisionGeometry::aabb_local

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

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

FCL_REAL hpp::fcl::CollisionGeometry::aabb_radius

AABB radius.

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

FCL_REAL hpp::fcl::CollisionGeometry::cost_density

collision cost for unit volume

Referenced by isFree(), and isOccupied().

FCL_REAL hpp::fcl::CollisionGeometry::threshold_free

threshold for free (<= is free)

Referenced by isFree().

FCL_REAL hpp::fcl::CollisionGeometry::threshold_occupied

threshold for occupied ( >= is occupied)

Referenced by isOccupied().

void* hpp::fcl::CollisionGeometry::user_data

pointer to user defined data specific to this object

Referenced by getUserData(), hpp::fcl::CollisionObject::getUserData(), setUserData(), and hpp::fcl::CollisionObject::setUserData().