collision_detection::CollisionGeometryData Struct Reference

Wrapper around world, link and attached objects' geometry data. More...

#include <collision_common.h>

Public Member Functions
	CollisionGeometryData (const moveit::core::AttachedBody *ab, int index)
	Constructor for a new collision geometry object which is attached to the robot. More...
	CollisionGeometryData (const moveit::core::LinkModel *link, int index)
	Constructor for a robot link collision geometry object. More...
	CollisionGeometryData (const World::Object *obj, int index)
	Constructor for a new world collision geometry. More...
const std::string &	getID () const
	Returns the name which is saved in the member pointed to in ptr. More...
std::string	getTypeString () const
	Returns a string of the corresponding type. More...
bool	sameObject (const CollisionGeometryData &other) const
	Check if two CollisionGeometryData objects point to the same source object. More...

Public Attributes
union {
const moveit::core::AttachedBody *   ab
const moveit::core::LinkModel *   link
const World::Object *   obj
const void *   raw
}	ptr
	Points to the type of body which contains the geometry. More...
int	shape_index
	Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object. More...
BodyType	type
	Indicates the body type of the object. More...

Detailed Description

Wrapper around world, link and attached objects' geometry data.

Definition at line 95 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Constructor & Destructor Documentation

CollisionGeometryData() [1/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const moveit::core::LinkModel *  link, int  index  )

inline

Constructor for a robot link collision geometry object.

Definition at line 98 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

CollisionGeometryData() [2/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const moveit::core::AttachedBody *  ab, int  index  )

inline

Constructor for a new collision geometry object which is attached to the robot.

Definition at line 105 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

CollisionGeometryData() [3/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const World::Object *  obj, int  index  )

inline

Constructor for a new world collision geometry.

Definition at line 112 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Member Function Documentation

getID()

const std::string& collision_detection::CollisionGeometryData::getID ( ) const

inline

Returns the name which is saved in the member pointed to in ptr.

Definition at line 118 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

getTypeString()

std::string collision_detection::CollisionGeometryData::getTypeString ( ) const

inline

Returns a string of the corresponding type.

Definition at line 133 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

sameObject()

bool collision_detection::CollisionGeometryData::sameObject ( const CollisionGeometryData &  other ) const

inline

Check if two CollisionGeometryData objects point to the same source object.

Definition at line 148 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Member Data Documentation

ab

const moveit::core::AttachedBody* collision_detection::CollisionGeometryData::ab

Definition at line 166 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

link

const moveit::core::LinkModel* collision_detection::CollisionGeometryData::link

Definition at line 165 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

obj

const World::Object* collision_detection::CollisionGeometryData::obj

Definition at line 167 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

ptr

union { ... } collision_detection::CollisionGeometryData::ptr

Points to the type of body which contains the geometry.

raw

const void* collision_detection::CollisionGeometryData::raw

Definition at line 168 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

shape_index

int collision_detection::CollisionGeometryData::shape_index

Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object.

Definition at line 160 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

type

BodyType collision_detection::CollisionGeometryData::type

Indicates the body type of the object.

Definition at line 154 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

---

The documentation for this struct was generated from the following file:

• fcl/include/moveit/collision_detection_fcl/collision_common.h