Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Friends
collision_detection::BodyDecomposition Class Reference

#include <collision_distance_field_types.h>

List of all members.

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW BodyDecomposition (const shapes::ShapeConstPtr &shape, double resolution, double padding=0.01)
 BodyDecomposition (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Affine3d &poses, double resolution, double padding)
unsigned int getBodiesCount ()
const bodies::BodygetBody (unsigned int i) const
const EigenSTL::vector_Vector3dgetCollisionPoints () const
const std::vector
< CollisionSphere > & 
getCollisionSpheres () const
const bodies::BoundingSpheregetRelativeBoundingSphere () const
Eigen::Affine3d getRelativeCylinderPose () const
const std::vector< double > & getSphereRadii () const
void replaceCollisionSpheres (const std::vector< CollisionSphere > &new_collision_spheres, const Eigen::Affine3d &new_relative_cylinder_pose)
 ~BodyDecomposition ()

Public Attributes

Eigen::Affine3d relative_cylinder_pose_

Protected Member Functions

void init (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Affine3d &poses, double resolution, double padding)

Protected Attributes

bodies::BodyVector bodies_
std::vector< CollisionSpherecollision_spheres_
bodies::BoundingSphere relative_bounding_sphere_
EigenSTL::vector_Vector3d relative_collision_points_
std::vector< double > sphere_radii_

Friends

class BodyDecompositionVector

Detailed Description

Definition at line 216 of file collision_distance_field_types.h.


Constructor & Destructor Documentation

collision_detection::BodyDecomposition::BodyDecomposition ( const shapes::ShapeConstPtr shape,
double  resolution,
double  padding = 0.01 
)
collision_detection::BodyDecomposition::BodyDecomposition ( const std::vector< shapes::ShapeConstPtr > &  shapes,
const EigenSTL::vector_Affine3d poses,
double  resolution,
double  padding 
)

Definition at line 269 of file collision_distance_field_types.cpp.

Definition at line 323 of file collision_distance_field_types.cpp.


Member Function Documentation

Definition at line 261 of file collision_distance_field_types.h.

const bodies::Body* collision_detection::BodyDecomposition::getBody ( unsigned int  i) const [inline]

Definition at line 256 of file collision_distance_field_types.h.

Definition at line 251 of file collision_distance_field_types.h.

Definition at line 241 of file collision_distance_field_types.h.

Definition at line 271 of file collision_distance_field_types.h.

Definition at line 266 of file collision_distance_field_types.h.

const std::vector<double>& collision_detection::BodyDecomposition::getSphereRadii ( ) const [inline]

Definition at line 246 of file collision_distance_field_types.h.

void collision_detection::BodyDecomposition::init ( const std::vector< shapes::ShapeConstPtr > &  shapes,
const EigenSTL::vector_Affine3d poses,
double  resolution,
double  padding 
) [protected]

Definition at line 276 of file collision_distance_field_types.cpp.

void collision_detection::BodyDecomposition::replaceCollisionSpheres ( const std::vector< CollisionSphere > &  new_collision_spheres,
const Eigen::Affine3d &  new_relative_cylinder_pose 
) [inline]

Definition at line 232 of file collision_distance_field_types.h.


Friends And Related Function Documentation

friend class BodyDecompositionVector [friend]

Definition at line 218 of file collision_distance_field_types.h.


Member Data Documentation

Definition at line 281 of file collision_distance_field_types.h.

Definition at line 285 of file collision_distance_field_types.h.

Definition at line 283 of file collision_distance_field_types.h.

Definition at line 286 of file collision_distance_field_types.h.

Definition at line 230 of file collision_distance_field_types.h.

Definition at line 284 of file collision_distance_field_types.h.


The documentation for this class was generated from the following files:


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jun 19 2019 19:24:03