A representation of an object.
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#include <world.h>
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| Object (const std::string &object_id) |
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A representation of an object.
Definition at line 79 of file world.h.
◆ Object()
collision_detection::World::Object::Object |
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const std::string & |
object_id | ) |
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inline |
◆ global_shape_poses_
The poses of the corresponding entries in shapes_, relative to the world frame.
The pose of each Shape is stored in the corresponding element of the shape_poses_ array.
Definition at line 107 of file world.h.
◆ global_subframe_poses_
Transforms from the world frame to the object subframes.
Definition at line 117 of file world.h.
◆ 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.
◆ pose_
Eigen::Isometry3d collision_detection::World::Object::pose_ |
The object's pose. All shapes and subframes are defined relative to this frame. This frame is returned when getTransform() is called with the object's name.
Definition at line 92 of file world.h.
◆ shape_poses_
The poses of the corresponding entries in shapes_, relative to the object pose.
The pose of each Shape is stored in the corresponding element of the shape_poses_ array.
Definition at line 102 of file world.h.
◆ shapes_
All the shapes making up this object.
The pose of each Shape is stored in the corresponding element of the shape_poses_ array.
Definition at line 97 of file world.h.
◆ subframe_poses_
Transforms from the object pose 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 113 of file world.h.
The documentation for this struct was generated from the following file: