diff --git a/include/fcl/collision_object.h b/include/fcl/collision_object.h
index 7cc2fc5fe4fc1d9ff9fade472b515a63ca8f50e9..7fb13fbc46af7eb1614c5fc05f4b3c53785450a7 100644
--- a/include/fcl/collision_object.h
+++ b/include/fcl/collision_object.h
@@ -310,6 +310,12 @@ public:
     return cgeom_const;
   }
 
+  /// @brief get geometry from the object instance
+  const boost::shared_ptr<CollisionGeometry>& collisionGeometry()
+  {
+    return cgeom;
+  }
+
   /// @brief get object's cost density
   FCL_REAL getCostDensity() const
   {