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

Inheritance diagram for hpp::fcl::CollisionGeometry:

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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
	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...

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.

The documentation for this class was generated from the following file:

Public Member Functions