#include <collision_common_distance_field.h>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | GroupStateRepresentation () |
| GroupStateRepresentation (const GroupStateRepresentation &gsr) | |
Public Attributes | |
| std::vector < PosedBodySphereDecompositionVectorPtr > | attached_body_decompositions_ |
| boost::shared_ptr< const DistanceFieldCacheEntry > | dfce_ |
| std::vector< GradientInfo > | gradients_ |
| std::vector < PosedBodySphereDecompositionPtr > | link_body_decompositions_ |
| std::vector < PosedDistanceFieldPtr > | link_distance_fields_ |
collision volume representation for a particular pose and link group
This stores posed spheres making up the collision volume for a particular link group in a particular pose. It is associated with a particular dfce_ and can only be used with that dfce_ (DistanceFieldCacheEntry -- see below).
Definition at line 55 of file collision_common_distance_field.h.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision_detection::GroupStateRepresentation::GroupStateRepresentation | ( | ) | [inline] |
Definition at line 59 of file collision_common_distance_field.h.
| collision_detection::GroupStateRepresentation::GroupStateRepresentation | ( | const GroupStateRepresentation & | gsr | ) | [inline] |
Definition at line 60 of file collision_common_distance_field.h.
| std::vector<PosedBodySphereDecompositionVectorPtr> collision_detection::GroupStateRepresentation::attached_body_decompositions_ |
posed spheres representing collision volume for bodies attached to group links
Definition at line 92 of file collision_common_distance_field.h.
| boost::shared_ptr<const DistanceFieldCacheEntry> collision_detection::GroupStateRepresentation::dfce_ |
dfce used to generate this GSR
Definition at line 82 of file collision_common_distance_field.h.
information about detected collisions, collected during collision detection. One entry for each link and one entry for each attached object.
Definition at line 100 of file collision_common_distance_field.h.
| std::vector<PosedBodySphereDecompositionPtr> collision_detection::GroupStateRepresentation::link_body_decompositions_ |
posed spheres representing collision volume for the links in the group (dfce_.group_name_) and all links below the group (i.e. links that can move if joints in the group move). These are posed in the global frame used for collision detection.
Definition at line 88 of file collision_common_distance_field.h.
| std::vector<PosedDistanceFieldPtr> collision_detection::GroupStateRepresentation::link_distance_fields_ |
Definition at line 95 of file collision_common_distance_field.h.