#include <collision_object.h>
Inheritance diagram for fcl::CollisionGeometry:
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) | |
Definition at line 56 of file collision_object.h.
