dart::collision::FCLCollisionObject Class Reference

#include <FCLCollisionObject.hpp>

Inheritance diagram for dart::collision::FCLCollisionObject:

Public Member Functions
dart::collision::fcl::CollisionObject *	getFCLCollisionObject ()
	Return FCL collision object. More...
const dart::collision::fcl::CollisionObject *	getFCLCollisionObject () const
	Return FCL collision object. More...
CollisionDetector *	getCollisionDetector ()
	Return collision detection engine associated with this CollisionObject. More...
const CollisionDetector *	getCollisionDetector () const
	Return collision detection engine associated with this CollisionObject. More...
const dynamics::ShapeFrame *	getShapeFrame () const
	Return the associated ShapeFrame. More...
dynamics::ConstShapePtr	getShape () const
	Return the associated Shape. More...
const Eigen::Isometry3d &	getTransform () const
	Return the transformation of this CollisionObject in world coordinates. More...

Protected Member Functions
	FCLCollisionObject (CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame, const fcl_shared_ptr< dart::collision::fcl::CollisionGeometry > &fclCollGeom)
	Constructor. More...
void	updateEngineData () override
	Update the collision object of the collision detection engine. More...

Protected Attributes
std::unique_ptr< dart::collision::fcl::CollisionObject >	mFCLCollisionObject
	FCL collision object. More...
CollisionDetector *	mCollisionDetector
	Collision detector. More...
const dynamics::ShapeFrame *	mShapeFrame
	ShapeFrame. More...

Friends
class	FCLCollisionDetector

Constructor & Destructor Documentation

FCLCollisionObject()

dart::collision::FCLCollisionObject::FCLCollisionObject ( CollisionDetector *  collisionDetector, const dynamics::ShapeFrame *  shapeFrame, const fcl_shared_ptr< dart::collision::fcl::CollisionGeometry > &  fclCollGeom  )

protected

Constructor.

Member Function Documentation

getCollisionDetector() [1/2]

CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( )

inherited

Return collision detection engine associated with this CollisionObject.

getCollisionDetector() [2/2]

const CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( ) const

inherited

Return collision detection engine associated with this CollisionObject.

getFCLCollisionObject() [1/2]

dart::collision::fcl::CollisionObject * dart::collision::FCLCollisionObject::getFCLCollisionObject

(

)

Return FCL collision object.

getFCLCollisionObject() [2/2]

const dart::collision::fcl::CollisionObject * dart::collision::FCLCollisionObject::getFCLCollisionObject

(

)

const

Return FCL collision object.

getShape()

dynamics::ConstShapePtr dart::collision::CollisionObject::getShape ( ) const

inherited

Return the associated Shape.

getShapeFrame()

const dynamics::ShapeFrame * dart::collision::CollisionObject::getShapeFrame ( ) const

inherited

Return the associated ShapeFrame.

getTransform()

const Eigen::Isometry3d & dart::collision::CollisionObject::getTransform ( ) const

inherited

Return the transformation of this CollisionObject in world coordinates.

updateEngineData()

void dart::collision::FCLCollisionObject::updateEngineData ( )

overrideprotectedvirtual

Update the collision object of the collision detection engine.

This function will be called ahead of every collision checking by CollisionGroup.

Implements dart::collision::CollisionObject.

Friends And Related Function Documentation

FCLCollisionDetector

friend class FCLCollisionDetector

friend

Member Data Documentation

mCollisionDetector

CollisionDetector* dart::collision::CollisionObject::mCollisionDetector

protectedinherited

Collision detector.

mFCLCollisionObject

std::unique_ptr<dart::collision::fcl::CollisionObject> dart::collision::FCLCollisionObject::mFCLCollisionObject

protected

FCL collision object.

mShapeFrame

const dynamics::ShapeFrame* dart::collision::CollisionObject::mShapeFrame

protectedinherited

ShapeFrame.