From af1e9c3dc786df5d3eb1f6f8e100b0af03f112d1 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 30 Jul 2014 09:31:02 +0200
Subject: [PATCH] Add an accessor to non const collision geometry in
CollisionObject class.
---
include/fcl/collision_object.h | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/include/fcl/collision_object.h b/include/fcl/collision_object.h
index 7cc2fc5f..7fb13fbc 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
{
--
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