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::Body *	getBody (unsigned int i) const
const EigenSTL::vector_Vector3d &	getCollisionPoints () const
const std::vector < CollisionSphere > &	getCollisionSpheres () const
const bodies::BoundingSphere &	getRelativeBoundingSphere () 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< CollisionSphere >	collision_spheres_
bodies::BoundingSphere	relative_bounding_sphere_
EigenSTL::vector_Vector3d	relative_collision_points_
std::vector< double >	sphere_radii_
Friends
class	BodyDecompositionVector

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Detailed Description

Definition at line 216 of file collision_distance_field_types.h.

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Constructor & Destructor Documentation

collision_detection::BodyDecomposition::BodyDecomposition	(	const shapes::ShapeConstPtr &	shape,
		double	resolution,
		double	padding = 0.01
	)

BodyDecomposition

Definition at line 259 of file collision_distance_field_types.cpp.

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.

collision_detection::BodyDecomposition::~BodyDecomposition

(

)

Definition at line 323 of file collision_distance_field_types.cpp.

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Member Function Documentation

unsigned int collision_detection::BodyDecomposition::getBodiesCount

(

)

[inline]

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.

const EigenSTL::vector_Vector3d& collision_detection::BodyDecomposition::getCollisionPoints

(

)

const [inline]

Definition at line 251 of file collision_distance_field_types.h.

const std::vector<CollisionSphere>& collision_detection::BodyDecomposition::getCollisionSpheres

(

)

const [inline]

Definition at line 241 of file collision_distance_field_types.h.

const bodies::BoundingSphere& collision_detection::BodyDecomposition::getRelativeBoundingSphere

(

)

const [inline]

Definition at line 271 of file collision_distance_field_types.h.

Eigen::Affine3d collision_detection::BodyDecomposition::getRelativeCylinderPose

(

)

const [inline]

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.

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Friends And Related Function Documentation

friend class BodyDecompositionVector [friend]

Definition at line 218 of file collision_distance_field_types.h.

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Member Data Documentation

bodies::BodyVector collision_detection::BodyDecomposition::bodies_ [protected]

Definition at line 281 of file collision_distance_field_types.h.

std::vector<CollisionSphere> collision_detection::BodyDecomposition::collision_spheres_ [protected]

Definition at line 285 of file collision_distance_field_types.h.

bodies::BoundingSphere collision_detection::BodyDecomposition::relative_bounding_sphere_ [protected]

Definition at line 283 of file collision_distance_field_types.h.

EigenSTL::vector_Vector3d collision_detection::BodyDecomposition::relative_collision_points_ [protected]

Definition at line 286 of file collision_distance_field_types.h.

Eigen::Affine3d collision_detection::BodyDecomposition::relative_cylinder_pose_

Definition at line 230 of file collision_distance_field_types.h.

std::vector<double> collision_detection::BodyDecomposition::sphere_radii_ [protected]

Definition at line 284 of file collision_distance_field_types.h.

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

• collision_distance_field_types.h
• collision_distance_field_types.cpp