collision::Shape Class Reference

Base prototype for the shape of an obstacle. More...

#include <shape.h>

Inheritance diagram for collision::Shape:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionObjectClass	getCollisionObjectClass () const override
virtual const ISolverEntity_FCL *	getFclInterface () const override
	Shape (const Shape &copy)
virtual Shape *	clone () const =0
Eigen::Vector2d	center () const
	Get geometric center of shape. More...
double	center_x () const
double	center_y () const
void	set_center (const Eigen::Vector2d &_center)
	Set geometric center of shape. More...
virtual void	print (std::ostringstream &stream) const =0
	Print all parameters of the shape. More...
virtual CollisionObjectConstPtr	timeSlice (int time_idx, CollisionObjectConstPtr shared_ptr_this) const
virtual ShapeType	type () const =0
	Get shape type. More...
double	radius () const
	Get radius. More...
virtual	~Shape ()
Public Member Functions inherited from collision::CollisionObjectEx
	CollisionObjectEx ()
virtual	~CollisionObjectEx ()
virtual bool	collide (const CollisionObject &c, const collision::CollisionRequest &req=CollisionRequest()) const
virtual bool	BVCheck (CollisionObjectConstPtr obj2) const
virtual std::shared_ptr< const collision::RectangleAABB >	getAABB () const
virtual int	getSolverEntity (solvers::solverFCL::SolverEntity_FCL *&ptr) const
virtual int	getSolverEntity (solvers::solverBoost::SolverEntity_Boost *&ptr) const
virtual const ICollisionContainer *	getContainerInterface (void) const
virtual const solvers::solverBoost::ISolverEntity_Boost *	getBoostInterface (void) const
Public Member Functions inherited from collision::CollisionObject
virtual	~CollisionObject ()
virtual CollisionObjectType	getCollisionObjectType () const
virtual void	toString (std::ostringstream &stream) const
virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map) const
virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map, CollisionObjectConstPtr parent) const
virtual bool	rayTrace (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect) const

Protected Member Functions
	Shape (const Eigen::Vector2d &_center)
Protected Member Functions inherited from collision::CollisionObjectEx
void	invalidateCollisionEntityCache (void)

Protected Attributes
Eigen::Vector2d	center_
double	radius_

Detailed Description

Base prototype for the shape of an obstacle.

Definition at line 25 of file shape.h.

Constructor & Destructor Documentation

Shape() [1/2]

collision::Shape::Shape

(

const Shape &

copy

)

Definition at line 7 of file shape.cc.

~Shape()

collision::Shape::~Shape ( )

virtual

Definition at line 5 of file shape.cc.

Shape() [2/2]

collision::Shape::Shape ( const Eigen::Vector2d &  _center )

inlineprotected

Definition at line 69 of file shape.h.

Member Function Documentation

center()

Eigen::Vector2d collision::Shape::center

(

void

)

const

Get geometric center of shape.

Definition at line 16 of file shape.cc.

center_x()

double collision::Shape::center_x

(

)

const

Definition at line 18 of file shape.cc.

center_y()

double collision::Shape::center_y

(

)

const

Definition at line 20 of file shape.cc.

clone()

virtual Shape* collision::Shape::clone ( ) const

pure virtual

Implemented in collision::RectangleOBB, collision::Polygon, collision::RectangleAABB, collision::Sphere, collision::Triangle, and collision::Point.

getCollisionObjectClass()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionObjectClass collision::Shape::getCollisionObjectClass ( ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObject.

Definition at line 29 of file shape.h.

getFclInterface()

virtual const ISolverEntity_FCL* collision::Shape::getFclInterface ( void  ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObjectEx.

Definition at line 33 of file shape.h.

print()

virtual void collision::Shape::print ( std::ostringstream &  stream ) const

pure virtual

Print all parameters of the shape.

Reimplemented from collision::CollisionObject.

Implemented in collision::RectangleOBB, collision::Polygon, collision::RectangleAABB, collision::Sphere, collision::Triangle, and collision::Point.

radius()

double collision::Shape::radius

(

)

const

Get radius.

Definition at line 27 of file shape.cc.

set_center()

void collision::Shape::set_center

(

const Eigen::Vector2d &

_center

)

Set geometric center of shape.

Definition at line 22 of file shape.cc.

timeSlice()

CollisionObjectConstPtr collision::Shape::timeSlice ( int  time_idx, CollisionObjectConstPtr  shared_ptr_this  ) const

virtual

Implements collision::CollisionObject.

Reimplemented in collision::Polygon.

Definition at line 11 of file shape.cc.

type()

virtual ShapeType collision::Shape::type ( ) const

pure virtual

Get shape type.

Implemented in collision::RectangleOBB, collision::Polygon, collision::RectangleAABB, collision::Sphere, collision::Triangle, and collision::Point.

Member Data Documentation

center_

Eigen::Vector2d collision::Shape::center_

protected

Definition at line 72 of file shape.h.

radius_

double collision::Shape::radius_

protected

Definition at line 73 of file shape.h.

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The documentation for this class was generated from the following files:

• include/collision/narrowphase/shape.h
• src/narrowphase/shape.cc