Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot. More...
#include <kinematic_model.h>
Public Member Functions | |
| AttachedBodyModel (const LinkModel *link, const std::string &id, const std::vector< tf::Transform > &attach_trans, const std::vector< std::string > &touch_links, std::vector< shapes::Shape * > &shapes) | |
| const std::vector < tf::Transform > & | getAttachedBodyFixedTransforms () const |
| const LinkModel * | getAttachedLinkModel () const |
| const std::string & | getName () const |
| const std::vector < shapes::Shape * > & | getShapes () const |
| const std::vector< std::string > & | getTouchLinks () const |
| ~AttachedBodyModel (void) | |
Private Attributes | |
| std::vector< tf::Transform > | attach_trans_ |
| The constant transforms applied to the link (need to be specified by user) | |
| const LinkModel * | attached_link_model_ |
| The link that owns this attached body. | |
| std::string | id_ |
| std::vector< shapes::Shape * > | shapes_ |
| The geometries of the attached body. | |
| std::vector< std::string > | touch_links_ |
| The set of links this body is allowed to touch. | |
Class defining bodies that can be attached to robot links. This is useful when handling objects picked up by the robot.
Definition at line 417 of file kinematic_model.h.
| planning_models::KinematicModel::AttachedBodyModel::AttachedBodyModel | ( | const LinkModel * | link, |
| const std::string & | id, | ||
| const std::vector< tf::Transform > & | attach_trans, | ||
| const std::vector< std::string > & | touch_links, | ||
| std::vector< shapes::Shape * > & | shapes | ||
| ) |
Definition at line 1190 of file kinematic_model.cpp.
Definition at line 1204 of file kinematic_model.cpp.
| const std::vector<tf::Transform>& planning_models::KinematicModel::AttachedBodyModel::getAttachedBodyFixedTransforms | ( | ) | const [inline] |
Definition at line 444 of file kinematic_model.h.
| const LinkModel* planning_models::KinematicModel::AttachedBodyModel::getAttachedLinkModel | ( | ) | const [inline] |
Definition at line 434 of file kinematic_model.h.
| const std::string& planning_models::KinematicModel::AttachedBodyModel::getName | ( | void | ) | const [inline] |
Definition at line 429 of file kinematic_model.h.
| const std::vector<shapes::Shape*>& planning_models::KinematicModel::AttachedBodyModel::getShapes | ( | ) | const [inline] |
Definition at line 439 of file kinematic_model.h.
| const std::vector<std::string>& planning_models::KinematicModel::AttachedBodyModel::getTouchLinks | ( | ) | const [inline] |
Definition at line 449 of file kinematic_model.h.
std::vector<tf::Transform> planning_models::KinematicModel::AttachedBodyModel::attach_trans_ [private] |
The constant transforms applied to the link (need to be specified by user)
Definition at line 463 of file kinematic_model.h.
The link that owns this attached body.
Definition at line 457 of file kinematic_model.h.
std::string planning_models::KinematicModel::AttachedBodyModel::id_ [private] |
string id for reference
Definition at line 469 of file kinematic_model.h.
std::vector<shapes::Shape*> planning_models::KinematicModel::AttachedBodyModel::shapes_ [private] |
The geometries of the attached body.
Definition at line 460 of file kinematic_model.h.
std::vector<std::string> planning_models::KinematicModel::AttachedBodyModel::touch_links_ [private] |
The set of links this body is allowed to touch.
Definition at line 466 of file kinematic_model.h.