collision_detection::PosedBodySphereDecomposition Class Reference

#include <collision_distance_field_types.h>

Public Member Functions
const Eigen::Vector3d &	getBoundingSphereCenter () const
double	getBoundingSphereRadius () const
const EigenSTL::vector_Vector3d &	getCollisionPoints () const
const std::vector< CollisionSphere > &	getCollisionSpheres () const
const EigenSTL::vector_Vector3d &	getSphereCenters () const
const std::vector< double > &	getSphereRadii () const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PosedBodySphereDecomposition (const BodyDecompositionConstPtr &body_decomposition)
void	updatePose (const Eigen::Affine3d &linkTransform)

Protected Attributes
BodyDecompositionConstPtr	body_decomposition_
Eigen::Vector3d	posed_bounding_sphere_center_
EigenSTL::vector_Vector3d	posed_collision_points_
EigenSTL::vector_Vector3d	sphere_centers_

Detailed Description

Definition at line 295 of file collision_distance_field_types.h.

Constructor & Destructor Documentation

collision_detection::PosedBodySphereDecomposition::PosedBodySphereDecomposition

(

const BodyDecompositionConstPtr &

body_decomposition

)

Definition at line 368 of file collision_distance_field_types.cpp.

Member Function Documentation

const Eigen::Vector3d& collision_detection::PosedBodySphereDecomposition::getBoundingSphereCenter ( ) const

inline

Definition at line 321 of file collision_distance_field_types.h.

double collision_detection::PosedBodySphereDecomposition::getBoundingSphereRadius ( ) const

inline

Definition at line 326 of file collision_distance_field_types.h.

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

inline

Definition at line 312 of file collision_distance_field_types.h.

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

inline

Definition at line 302 of file collision_distance_field_types.h.

const EigenSTL::vector_Vector3d& collision_detection::PosedBodySphereDecomposition::getSphereCenters ( ) const

inline

Definition at line 307 of file collision_distance_field_types.h.

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

inline

Definition at line 317 of file collision_distance_field_types.h.

void collision_detection::PosedBodySphereDecomposition::updatePose

(

const Eigen::Affine3d &

linkTransform

)

Definition at line 377 of file collision_distance_field_types.cpp.

Member Data Documentation

BodyDecompositionConstPtr collision_detection::PosedBodySphereDecomposition::body_decomposition_

protected

Definition at line 336 of file collision_distance_field_types.h.

Eigen::Vector3d collision_detection::PosedBodySphereDecomposition::posed_bounding_sphere_center_

protected

Definition at line 337 of file collision_distance_field_types.h.

EigenSTL::vector_Vector3d collision_detection::PosedBodySphereDecomposition::posed_collision_points_

protected

Definition at line 338 of file collision_distance_field_types.h.

EigenSTL::vector_Vector3d collision_detection::PosedBodySphereDecomposition::sphere_centers_

protected

Definition at line 339 of file collision_distance_field_types.h.

---

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

• collision_distance_field_types.h
• collision_distance_field_types.cpp