#include <fcl.hpp>

Public Member Functions
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="")
	Full constructor. More...

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="")
	Reduced constructor. More...

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS	GeometryObject (const GeometryObject &other)

PINOCCHIO_COMPILER_DIAGNOSTIC_POP GeometryObject &	operator= (const GeometryObject &other)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef shared_ptr< fcl::CollisionGeometry >	CollisionGeometryPtr

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

PINOCCHIO_DEPRECATED CollisionGeometryPtr &	fcl
	The former pointer to the FCL CollisionGeometry. More...

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

Eigen::Vector4d	meshColor
	RGBA color value of the GeometryObject::fcl object. More...

std::string	meshPath
	Absolute path to the mesh file (if the fcl pointee is also a Mesh) More...

Eigen::Vector3d	meshScale
	Scaling vector applied to the GeometryObject::fcl object. More...

std::string	meshTexturePath
	Absolute path to the mesh texture file. More...

std::string	name
	Name of the geometry object. More...

bool	overrideMaterial
	Decide whether to override the Material. More...

FrameIndex	parentFrame
	Index of the parent frame. More...

JointIndex	parentJoint
	Index of the parent joint. More...

SE3	placement
	Position of geometry object in parent joint frame. More...

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

Detailed Description

Definition at line 137 of file fcl.hpp.

Constructor & Destructor Documentation

◆ GeometryObject() [1/3]

PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS pinocchio::GeometryObject::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 = `""`
	)

inline

Full constructor.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_frame	Index of the parent frame.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].

Definition at line 200 of file fcl.hpp.

◆ GeometryObject() [2/3]

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS pinocchio::GeometryObject::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 = `""`
	)

inline

Reduced constructor.

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

Parameters

[in]	name	Name of the geometry object.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].

Definition at line 241 of file fcl.hpp.

◆ GeometryObject() [3/3]

PINOCCHIO_COMPILER_DIAGNOSTIC_POP PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS pinocchio::GeometryObject::GeometryObject ( const GeometryObject & other )

inline

Definition at line 267 of file fcl.hpp.

Member Function Documentation

◆ operator=()

PINOCCHIO_COMPILER_DIAGNOSTIC_POP GeometryObject& pinocchio::GeometryObject::operator= ( const GeometryObject & other )

inline

Definition at line 275 of file fcl.hpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Member Data Documentation

◆ CollisionGeometryPtr

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef shared_ptr<fcl::CollisionGeometry> pinocchio::GeometryObject::CollisionGeometryPtr

Definition at line 141 of file fcl.hpp.

◆ disableCollision

bool pinocchio::GeometryObject::disableCollision

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

Definition at line 182 of file fcl.hpp.

◆ fcl

PINOCCHIO_DEPRECATED CollisionGeometryPtr& pinocchio::GeometryObject::fcl

The former pointer to the FCL CollisionGeometry.

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

Definition at line 161 of file fcl.hpp.

◆ geometry

CollisionGeometryPtr pinocchio::GeometryObject::geometry

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

Definition at line 157 of file fcl.hpp.

◆ meshColor

Eigen::Vector4d pinocchio::GeometryObject::meshColor

RGBA color value of the GeometryObject::fcl object.

Definition at line 176 of file fcl.hpp.

◆ meshPath

std::string pinocchio::GeometryObject::meshPath

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

Definition at line 167 of file fcl.hpp.

◆ meshScale

Eigen::Vector3d pinocchio::GeometryObject::meshScale

Scaling vector applied to the GeometryObject::fcl object.

Definition at line 170 of file fcl.hpp.

◆ meshTexturePath

std::string pinocchio::GeometryObject::meshTexturePath

Absolute path to the mesh texture file.

Definition at line 179 of file fcl.hpp.

◆ name

std::string pinocchio::GeometryObject::name

Name of the geometry object.

Definition at line 144 of file fcl.hpp.

◆ overrideMaterial

bool pinocchio::GeometryObject::overrideMaterial

Decide whether to override the Material.

Definition at line 173 of file fcl.hpp.

◆ parentFrame

FrameIndex pinocchio::GeometryObject::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.

Definition at line 151 of file fcl.hpp.

◆ parentJoint

JointIndex pinocchio::GeometryObject::parentJoint

Index of the parent joint.

Definition at line 154 of file fcl.hpp.

◆ placement

SE3 pinocchio::GeometryObject::placement

Position of geometry object in parent joint frame.

Definition at line 164 of file fcl.hpp.

The documentation for this struct was generated from the following file:

fcl.hpp

Public Member Functions

Public Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ GeometryObject() [1/3]

◆ GeometryObject() [2/3]

◆ GeometryObject() [3/3]

Member Function Documentation

◆ operator=()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ CollisionGeometryPtr

◆ disableCollision

◆ fcl

◆ geometry

◆ meshColor

◆ meshPath

◆ meshScale

◆ meshTexturePath

◆ name

◆ overrideMaterial

◆ parentFrame

◆ parentJoint

◆ placement