#include <collision_object.h>
Inheritance diagram for 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 () | |
| ~CollisionObject () | |
| OBJECT_TYPE | getObjectType () const |
| get the type of the object | |
| NODE_TYPE | getNodeType () const |
| get the node type | |
| const AABB & | getAABB () const |
| get the AABB in world space | |
| void | computeAABB () |
| compute the AABB in world space | |
| void * | getUserData () const |
| get user data in object | |
| void | setUserData (void *data) |
| set user data in object | |
| const Vec3f & | getTranslation () const |
| get translation of the object | |
| const Matrix3f & | getRotation () const |
| get matrix rotation of the object | |
| const Quaternion3f & | getQuatRotation () const |
| get quaternion rotation of the object | |
| const Transform3f & | getTransform () const |
| get object's transform | |
| void | setRotation (const Matrix3f &R) |
| set object's rotation matrix | |
| void | setTranslation (const Vec3f &T) |
| set object's translation | |
| void | setQuatRotation (const Quaternion3f &q) |
| set object's quatenrion rotation | |
| void | setTransform (const Matrix3f &R, const Vec3f &T) |
| set object's transform | |
| void | setTransform (const Quaternion3f &q, const Vec3f &T) |
| set object's transform | |
| void | setTransform (const Transform3f &tf) |
| set object's transform | |
| bool | isIdentityTransform () const |
| whether the object is in local coordinate | |
| void | setIdentityTransform () |
| set the object in local coordinate | |
| const CollisionGeometry * | getCollisionGeometry () const |
| get geometry from the object instance | |
| FCL_REAL | getCostDensity () const |
| get object's cost density | |
| void | setCostDensity (FCL_REAL c) |
| set object's cost density | |
| bool | isOccupied () const |
| whether the object is completely occupied | |
| bool | isFree () const |
| whether the object is completely free | |
| bool | isUncertain () const |
| whether the object is uncertain | |
Protected Attributes | |
| boost::shared_ptr< CollisionGeometry > | cgeom |
| Transform3f | t |
| AABB | aabb |
| AABB in global coordinate. | |
| void * | user_data |
| pointer to user defined data specific to this object | |
Definition at line 120 of file collision_object.h.
