collision_detection::BodyDecomposition Class Reference

#include <collision_distance_field_types.h>

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

Detailed Description

Definition at line 222 of file collision_distance_field_types.h.

Constructor & Destructor Documentation

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

BodyDecomposition

Definition at line 260 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 270 of file collision_distance_field_types.cpp.

collision_detection::BodyDecomposition::~BodyDecomposition

(

)

Definition at line 323 of file collision_distance_field_types.cpp.

Member Function Documentation

unsigned int collision_detection::BodyDecomposition::getBodiesCount ( )

inline

Definition at line 267 of file collision_distance_field_types.h.

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

inline

Definition at line 262 of file collision_distance_field_types.h.

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

inline

Definition at line 257 of file collision_distance_field_types.h.

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

inline

Definition at line 247 of file collision_distance_field_types.h.

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

inline

Definition at line 277 of file collision_distance_field_types.h.

Eigen::Affine3d collision_detection::BodyDecomposition::getRelativeCylinderPose ( ) const

inline

Definition at line 272 of file collision_distance_field_types.h.

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

inline

Definition at line 252 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 277 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 238 of file collision_distance_field_types.h.

Friends And Related Function Documentation

friend class BodyDecompositionVector

friend

Definition at line 224 of file collision_distance_field_types.h.

Member Data Documentation

bodies::BodyVector collision_detection::BodyDecomposition::bodies_

protected

Definition at line 287 of file collision_distance_field_types.h.

std::vector<CollisionSphere> collision_detection::BodyDecomposition::collision_spheres_

protected

Definition at line 291 of file collision_distance_field_types.h.

bodies::BoundingSphere collision_detection::BodyDecomposition::relative_bounding_sphere_

protected

Definition at line 289 of file collision_distance_field_types.h.

EigenSTL::vector_Vector3d collision_detection::BodyDecomposition::relative_collision_points_

protected

Definition at line 292 of file collision_distance_field_types.h.

Eigen::Affine3d collision_detection::BodyDecomposition::relative_cylinder_pose_

Definition at line 236 of file collision_distance_field_types.h.

std::vector<double> collision_detection::BodyDecomposition::sphere_radii_

protected

Definition at line 290 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