Public Member Functions | Public Attributes | List of all members
collision_detection::World::Object Struct Reference

A representation of an object. More...

#include <world.h>

Public Member Functions

 Object (const std::string &id)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string id_
 The id for this object. More...
 
EigenSTL::vector_Isometry3d shape_poses_
 The poses of the corresponding entries in shapes_. More...
 
std::vector< shapes::ShapeConstPtrshapes_
 All the shapes making up this object. More...
 
moveit::core::FixedTransformsMap subframe_poses_
 Transforms to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base). More...
 

Detailed Description

A representation of an object.

Definition at line 79 of file world.h.

Constructor & Destructor Documentation

◆ Object()

collision_detection::World::Object::Object ( const std::string id)
inline

Definition at line 81 of file world.h.

Member Data Documentation

◆ id_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string collision_detection::World::Object::id_

The id for this object.

Definition at line 88 of file world.h.

◆ shape_poses_

EigenSTL::vector_Isometry3d collision_detection::World::Object::shape_poses_

The poses of the corresponding entries in shapes_.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Note
Although the code generally supports having multiple shapes per object, there are many cases where it is better to have only a single shape per object. For instance planning_scene::PlanningScene::getFrameTransform() will return the pose of an Object. As defined here, the pose of a multi-shaped object is ambiguous, so getFrameTransform() just returns the pose of the first Shape in the object.

Definition at line 106 of file world.h.

◆ shapes_

std::vector<shapes::ShapeConstPtr> collision_detection::World::Object::shapes_

All the shapes making up this object.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Note
Although the code generally supports having multiple shapes per object, there are many cases where it is better to have only a single shape per object. For instance planning_scene::PlanningScene::getFrameTransform() will return the pose of an Object. As defined here, the pose of a multi-shaped object is ambiguous, so getFrameTransform() just returns the pose of the first Shape in the object.

Definition at line 101 of file world.h.

◆ subframe_poses_

moveit::core::FixedTransformsMap collision_detection::World::Object::subframe_poses_

Transforms to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base).

Definition at line 112 of file world.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 12 2020 03:25:45