Struct GeometryObject

Struct Documentation

struct GeometryObject

Public Functions

inline PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS GeometryObject (const std::string &name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())

Full constructor.

Parameters:

  • name – [in] Name of the geometry object.

  • parent_frame – [in] Index of the parent frame.

  • parent_joint – [in] Index of the parent joint (that supports the geometry).  

  • collision_geometry – [in] The FCL collision geometry object.

  • placement – [in] Placement of the geometry with respect to the joint frame.

  • meshPath – [in] Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].

  • meshScale – [in] Scale of the mesh [if applicable].

  • overrideMaterial – [in] If true, this option allows to overrite the material [if applicable].

  • meshColor – [in] Color of the mesh [if applicable].

  • meshTexturePath – [in] Path to the file containing the texture information [if applicable].

  • meshMaterial – [in] Material of the mesh [if applicable].

inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS GeometryObject (const std::string &name, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d::Ones(), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())

Reduced constructor.

Remark

Compared to the other constructor, this one assumes that there is no parentFrame associated to the geometry.

Parameters:

  • name – [in] Name of the geometry object.

  • parent_joint – [in] Index of the parent joint (that supports the geometry).  

  • collision_geometry – [in] The FCL collision geometry object.

  • placement – [in] Placement of the geometry with respect to the joint frame.

  • meshPath – [in] Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].

  • meshScale – [in] Scale of the mesh [if applicable].

  • overrideMaterial – [in] If true, this option allows to overrite the material [if applicable].

  • meshColor – [in] Color of the mesh [if applicable].

  • meshTexturePath – [in] Path to the file containing the texture information [if applicable].

  • meshMaterial – [in] Material of the mesh [if applicable].

inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS GeometryObject (const GeometryObject &other)
inline PINOCCHIO_COMPILER_DIAGNOSTIC_POP GeometryObject & operator= (const GeometryObject &other)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef shared_ptr< fcl::CollisionGeometry > CollisionGeometryPtr
std::string name

Name of the geometry object.

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.

JointIndex parentJoint

Index of the parent joint.

CollisionGeometryPtr geometry

The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.)

PINOCCHIO_DEPRECATED CollisionGeometryPtr & fcl

The former pointer to the FCL CollisionGeometry.

Deprecated:

It is now deprecated and has been renamed GeometryObject::geometry

SE3 placement

Position of geometry object in parent joint frame.

std::string meshPath

Absolute path to the mesh file (if the geometry pointee is also a Mesh)

Eigen::Vector3d meshScale

Scaling vector applied to the GeometryObject::geometry object.

bool overrideMaterial

Decide whether to override the Material.

Eigen::Vector4d meshColor

RGBA diffuse color value of the GeometryObject::geometry object.

GeometryMaterial meshMaterial

Material associated to the mesh. This material should be used only if overrideMaterial is set to true. In other case, the mesh default material must be used.

std::string meshTexturePath

Absolute path to the mesh texture file.

bool disableCollision

If true, no collision or distance check will be done between the Geometry and any other geometry.

Friends

friend std::ostream &operator<<(std::ostream &os, const GeometryObject &geomObject)