DART  6.7.3
CollisionObject.hpp
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32 
33 #ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
34 #define DART_COLLISION_COLLISIONOBJECT_HPP_
35 
36 #include <Eigen/Dense>
37 
40 
41 namespace dart {
42 namespace collision {
43 
45 {
46 public:
47 
48  friend class CollisionGroup;
49 
51  virtual ~CollisionObject() = default;
52 
55 
58 
60  const dynamics::ShapeFrame* getShapeFrame() const;
61 
64 
66  const Eigen::Isometry3d& getTransform() const;
67 
68 protected:
69 
71  CollisionObject(CollisionDetector* collisionDetector,
72  const dynamics::ShapeFrame* shapeFrame);
73 
77  virtual void updateEngineData() = 0;
78 
79 protected:
80 
83 
86 
87 };
88 
89 } // namespace collision
90 } // namespace dart
91 
92 #endif // DART_COLLISION_COLLISIONOBJECT_HPP_
Definition: CollisionDetector.hpp:56
Definition: CollisionGroup.hpp:51
Definition: CollisionObject.hpp:45
CollisionDetector * mCollisionDetector
Collision detector.
Definition: CollisionObject.hpp:82
CollisionDetector * getCollisionDetector()
Return collision detection engine associated with this CollisionObject.
Definition: CollisionObject.cpp:42
CollisionObject(CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame)
Contructor.
Definition: CollisionObject.cpp:72
virtual ~CollisionObject()=default
Destructor.
dynamics::ConstShapePtr getShape() const
Return the associated Shape.
Definition: CollisionObject.cpp:60
const dynamics::ShapeFrame * mShapeFrame
ShapeFrame.
Definition: CollisionObject.hpp:85
const dynamics::ShapeFrame * getShapeFrame() const
Return the associated ShapeFrame.
Definition: CollisionObject.cpp:54
virtual void updateEngineData()=0
Update the collision object of the collision detection engine.
const Eigen::Isometry3d & getTransform() const
Return the transformation of this CollisionObject in world coordinates.
Definition: CollisionObject.cpp:66
Definition: ShapeFrame.hpp:164
std::shared_ptr< const Shape > ConstShapePtr
Definition: SmartPointer.hpp:81
Definition: BulletCollisionDetector.cpp:63