DART  6.7.3
FCLCollisionObject.hpp
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32 
33 #ifndef DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
34 #define DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
35 
38 
39 namespace dart {
40 namespace collision {
41 
43 {
44 public:
45 
46  friend class FCLCollisionDetector;
47 
50 
53 
54 protected:
55 
57  FCLCollisionObject(CollisionDetector* collisionDetector,
58  const dynamics::ShapeFrame* shapeFrame,
60 
61  // Documentation inherited
62  void updateEngineData() override;
63 
64 protected:
65 
67  std::unique_ptr<dart::collision::fcl::CollisionObject> mFCLCollisionObject;
68 
69 };
70 
71 } // namespace collision
72 } // namespace dart
73 
74 #endif // DART_COLLISION_FCL_FCLCOLLISIONOBJECT_HPP_
boost::shared_ptr< T > fcl_shared_ptr
Definition: BackwardCompatibility.hpp:100
Definition: CollisionDetector.hpp:56
Definition: CollisionObject.hpp:45
Definition: FCLCollisionDetector.hpp:46
Definition: FCLCollisionObject.hpp:43
void updateEngineData() override
Update the collision object of the collision detection engine.
Definition: FCLCollisionObject.cpp:66
dart::collision::fcl::CollisionObject * getFCLCollisionObject()
Return FCL collision object.
Definition: FCLCollisionObject.cpp:43
FCLCollisionObject(CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame, const fcl_shared_ptr< dart::collision::fcl::CollisionGeometry > &fclCollGeom)
Constructor.
Definition: FCLCollisionObject.cpp:55
std::unique_ptr< dart::collision::fcl::CollisionObject > mFCLCollisionObject
FCL collision object.
Definition: FCLCollisionObject.hpp:67
Definition: ShapeFrame.hpp:164
::fcl::CollisionObject CollisionObject
Definition: BackwardCompatibility.hpp:152
Definition: BulletCollisionDetector.cpp:63