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fcl::CollisionGeometry Class Reference

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

#include <collision_object.h>

Inheritance diagram for fcl::CollisionGeometry:

List of all members.

Public Member Functions

 CollisionGeometry ()
virtual ~CollisionGeometry ()
virtual OBJECT_TYPE getObjectType () const
 get the type of the object
virtual NODE_TYPE getNodeType () const
 get the node type
virtual void computeLocalAABB ()=0
 compute the AABB for object in local coordinate
void * getUserData () const
 get user data in geometry
void setUserData (void *data)
 set user data in geometry
bool isOccupied () const
 whether the object is completely occupied
bool isFree () const
 whether the object is completely free
bool isUncertain () const
 whether the object has some uncertainty

Public Attributes

Vec3f aabb_center
 AABB center in local coordinate.
FCL_REAL aabb_radius
 AABB radius.
AABB aabb_local
 AABB in local coordinate, used for tight AABB when only translation transform.
void * user_data
 pointer to user defined data specific to this object
FCL_REAL cost_density
 collision cost for unit volume
FCL_REAL threshold_occupied
 threshold for occupied ( >= is occupied)
FCL_REAL threshold_free
 threshold for free (<= is free)

Detailed Description

The geometry for the object for collision or distance computation.

Definition at line 56 of file collision_object.h.

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