hpp-fcl
1.4.4
HPP fork of FCL -- The Flexible Collision Library
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the object for collision or distance computation, contains the geometry and the transform information More...
#include <hpp/fcl/collision_object.h>
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 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 | 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 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... | |
the object for collision or distance computation, contains the geometry and the transform information