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A link from the robot. Contains the constant transform applied to the link and its geometry. More...
#include <kinematic_model.h>
Public Member Functions | |
const std::vector < AttachedBodyModel * > & | getAttachedBodyModels () const |
const std::vector< JointModel * > & | getChildJointModels () const |
const btTransform & | getCollisionOriginTransform () const |
const btTransform & | getJointOriginTransform () const |
const shapes::Shape * | getLinkShape () const |
const std::string & | getName () const |
const JointModel * | getParentJointModel () const |
LinkModel (const LinkModel *link_model) | |
LinkModel (const KinematicModel *kinematic_model) | |
~LinkModel (void) | |
Private Member Functions | |
void | addAttachedBodyModel (AttachedBodyModel *attached_body_model) |
void | clearAttachedBodyModels () |
Removes all attached body models from this link, requiring an exclusive lock. | |
void | clearLinkAttachedBodyModel (const std::string &att_name) |
void | replaceAttachedBodyModels (std::vector< AttachedBodyModel * > &attached_body_vector) |
Removes all attached body models from this link, and replaces them with the supplied vector, requiring an exclusive lock. | |
Private Attributes | |
std::vector< AttachedBodyModel * > | attached_body_models_ |
Attached bodies. | |
std::vector< JointModel * > | child_joint_models_ |
List of descending joints (each connects to a child link). | |
btTransform | collision_origin_transform_ |
The constant transform applied to the collision geometry of the link (local). | |
btTransform | joint_origin_transform_ |
The constant transform applied to the link (local). | |
const KinematicModel * | kinematic_model_ |
KinematicState point for accessing locks. | |
std::string | name_ |
Name of the link. | |
JointModel * | parent_joint_model_ |
JointModel that connects this link to the parent link. | |
shapes::Shape * | shape_ |
The geometry of the link. | |
Friends | |
class | KinematicModel |
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition at line 336 of file kinematic_model.h.
planning_models::KinematicModel::LinkModel::LinkModel | ( | const KinematicModel * | kinematic_model | ) |
Definition at line 1106 of file kinematic_model.cpp.
planning_models::KinematicModel::LinkModel::LinkModel | ( | const LinkModel * | link_model | ) |
Definition at line 1115 of file kinematic_model.cpp.
planning_models::KinematicModel::LinkModel::~LinkModel | ( | void | ) |
Definition at line 1141 of file kinematic_model.cpp.
void planning_models::KinematicModel::LinkModel::addAttachedBodyModel | ( | AttachedBodyModel * | attached_body_model | ) | [private] |
Definition at line 1182 of file kinematic_model.cpp.
void planning_models::KinematicModel::LinkModel::clearAttachedBodyModels | ( | ) | [private] |
Removes all attached body models from this link, requiring an exclusive lock.
Definition at line 1151 of file kinematic_model.cpp.
void planning_models::KinematicModel::LinkModel::clearLinkAttachedBodyModel | ( | const std::string & | att_name | ) | [private] |
Definition at line 1169 of file kinematic_model.cpp.
const std::vector<AttachedBodyModel*>& planning_models::KinematicModel::LinkModel::getAttachedBodyModels | ( | ) | const [inline] |
Definition at line 371 of file kinematic_model.h.
const std::vector<JointModel*>& planning_models::KinematicModel::LinkModel::getChildJointModels | ( | ) | const [inline] |
Definition at line 355 of file kinematic_model.h.
const btTransform& planning_models::KinematicModel::LinkModel::getCollisionOriginTransform | ( | ) | const [inline] |
Definition at line 363 of file kinematic_model.h.
const btTransform& planning_models::KinematicModel::LinkModel::getJointOriginTransform | ( | ) | const [inline] |
Definition at line 359 of file kinematic_model.h.
const shapes::Shape* planning_models::KinematicModel::LinkModel::getLinkShape | ( | ) | const [inline] |
Definition at line 367 of file kinematic_model.h.
const std::string& planning_models::KinematicModel::LinkModel::getName | ( | void | ) | const [inline] |
Definition at line 347 of file kinematic_model.h.
const JointModel* planning_models::KinematicModel::LinkModel::getParentJointModel | ( | ) | const [inline] |
Definition at line 351 of file kinematic_model.h.
void planning_models::KinematicModel::LinkModel::replaceAttachedBodyModels | ( | std::vector< AttachedBodyModel * > & | attached_body_vector | ) | [private] |
Removes all attached body models from this link, and replaces them with the supplied vector, requiring an exclusive lock.
Definition at line 1159 of file kinematic_model.cpp.
friend class KinematicModel [friend] |
Definition at line 338 of file kinematic_model.h.
std::vector<AttachedBodyModel*> planning_models::KinematicModel::LinkModel::attached_body_models_ [private] |
Attached bodies.
Definition at line 411 of file kinematic_model.h.
std::vector<JointModel*> planning_models::KinematicModel::LinkModel::child_joint_models_ [private] |
List of descending joints (each connects to a child link).
Definition at line 399 of file kinematic_model.h.
btTransform planning_models::KinematicModel::LinkModel::collision_origin_transform_ [private] |
The constant transform applied to the collision geometry of the link (local).
Definition at line 405 of file kinematic_model.h.
btTransform planning_models::KinematicModel::LinkModel::joint_origin_transform_ [private] |
The constant transform applied to the link (local).
Definition at line 402 of file kinematic_model.h.
KinematicState point for accessing locks.
Definition at line 393 of file kinematic_model.h.
std::string planning_models::KinematicModel::LinkModel::name_ [private] |
Name of the link.
Definition at line 390 of file kinematic_model.h.
JointModel that connects this link to the parent link.
Definition at line 396 of file kinematic_model.h.
The geometry of the link.
Definition at line 408 of file kinematic_model.h.