hpp::fcl::CollisionObject Class Reference

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

#include <hpp/fcl/collision_object.h>

Collaboration diagram for hpp::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...
HPP_FCL_DEPRECATED const CollisionGeometry *	getCollisionGeometry () const
	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...

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

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

inline

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

inline

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

inline

hpp::fcl::CollisionObject::~CollisionObject ( )

inline

Member Function Documentation

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

inline

get geometry from the object instance

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

inline

get geometry from the object instance

void hpp::fcl::CollisionObject::computeAABB ( )

inline

compute the AABB in world space

References hpp::fcl::isQuatIdentity(), and hpp::fcl::translate().

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

inline

get the AABB in world space

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

inline

get geometry from the object instance

NODE_TYPE hpp::fcl::CollisionObject::getNodeType ( ) const

inline

get the node type

OBJECT_TYPE hpp::fcl::CollisionObject::getObjectType ( ) const

inline

get the type of the object

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

inline

get quaternion rotation of the object

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

inline

get matrix rotation of the object

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

inline

get object's transform

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

inline

get translation of the object

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

inline

get user data in object

References hpp::fcl::CollisionGeometry::user_data.

bool hpp::fcl::CollisionObject::isIdentityTransform ( ) const

inline

whether the object is in local coordinate

void hpp::fcl::CollisionObject::setIdentityTransform ( )

inline

set the object in local coordinate

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

inline

set object's quatenrion rotation

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

inline

set object's rotation matrix

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

inline

set object's transform

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

inline

set object's transform

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

inline

set object's transform

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

inline

set object's translation

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

inline

set user data in object

References hpp::fcl::CollisionGeometry::user_data.

Member Data Documentation

AABB hpp::fcl::CollisionObject::aabb

mutableprotected

AABB in global coordinate.

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

protected

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

protected

Transform3f hpp::fcl::CollisionObject::t

protected

void* hpp::fcl::CollisionObject::user_data

protected

pointer to user defined data specific to this object