hpp-fcl  1.4.4
HPP fork of FCL -- The Flexible Collision Library
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 AABBgetAABB () 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 Vec3fgetTranslation () const
 get translation of the object More...
 
const Matrix3fgetRotation () const
 get matrix rotation of the object More...
 
const Transform3fgetTransform () 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 setTransform (const Matrix3f &R, 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 CollisionGeometrygetCollisionGeometry () 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< CollisionGeometrycgeom
 
boost::shared_ptr< const CollisionGeometrycgeom_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


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