tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper Class Reference

This is a wrapper around FCL Collision Object Class which allows you to expand the AABB by the contact dist. More...

#include <fcl_collision_object_wrapper.h>

Inheritance diagram for tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper:

Collaboration diagram for tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper:

Public Member Functions
void	setContactDistanceThreshold (double contact_distance)
	Set the collision objects contact distance threshold. More...
double	getContactDistanceThreshold () const
	Get the collision objects contact distance threshold. More...
void	updateAABB ()
	Update the internal AABB. This must be called instead of the base class computeAABB(). More...

Protected Attributes
double	contact_distance_ { 0 }
	The contact distance threshold. More...

Detailed Description

This is a wrapper around FCL Collision Object Class which allows you to expand the AABB by the contact dist.

This significantly improves performance when making distance requests if performing a contact tests type FIRST.

Member Function Documentation

getContactDistanceThreshold()

double tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::getContactDistanceThreshold

(

)

const

Get the collision objects contact distance threshold.

Returns

The contact distance threshold.

setContactDistanceThreshold()

void tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::setContactDistanceThreshold

(

double

contact_distance

)

Set the collision objects contact distance threshold.

This automatically calls updateAABB() which increases the AABB by the contact distance.

Parameters

contact_distance

The contact distance threshold.

updateAABB()

void tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::updateAABB

(

)

Update the internal AABB. This must be called instead of the base class computeAABB().

After setting the collision objects transform this must be called.

Member Data Documentation

contact_distance_

double tesseract_collision::tesseract_collision_fcl::FCLCollisionObjectWrapper::contact_distance_ { 0 }

protected

The contact distance threshold.

---

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

• tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_collision_object_wrapper.h
• tesseract_collision/fcl/src/fcl_collision_object_wrapper.cpp