attached_body.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/robot_state/attached_body.h>
00038 
00039 moveit::core::AttachedBody::AttachedBody(const LinkModel* parent_link_model, const std::string& id,
00040                                          const std::vector<shapes::ShapeConstPtr>& shapes,
00041                                          const EigenSTL::vector_Affine3d& attach_trans,
00042                                          const std::set<std::string>& touch_links,
00043                                          const trajectory_msgs::JointTrajectory& detach_posture)
00044   : parent_link_model_(parent_link_model)
00045   , id_(id)
00046   , shapes_(shapes)
00047   , attach_trans_(attach_trans)
00048   , touch_links_(touch_links)
00049   , detach_posture_(detach_posture)
00050 {
00051   global_collision_body_transforms_.resize(attach_trans.size());
00052   for (std::size_t i = 0; i < global_collision_body_transforms_.size(); ++i)
00053     global_collision_body_transforms_[i].setIdentity();
00054 }
00055 
00056 moveit::core::AttachedBody::~AttachedBody()
00057 {
00058 }
00059 
00060 void moveit::core::AttachedBody::setScale(double scale)
00061 {
00062   for (std::size_t i = 0; i < shapes_.size(); ++i)
00063   {
00064     // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
00065     if (shapes_[i].unique())
00066       const_cast<shapes::Shape*>(shapes_[i].get())->scale(scale);
00067     else
00068     {
00069       // if the shape is owned elsewhere, we make a copy:
00070       shapes::Shape* copy = shapes_[i]->clone();
00071       copy->scale(scale);
00072       shapes_[i].reset(copy);
00073     }
00074   }
00075 }
00076 
00077 void moveit::core::AttachedBody::setPadding(double padding)
00078 {
00079   for (std::size_t i = 0; i < shapes_.size(); ++i)
00080   {
00081     // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
00082     if (shapes_[i].unique())
00083       const_cast<shapes::Shape*>(shapes_[i].get())->padd(padding);
00084     else
00085     {
00086       // if the shape is owned elsewhere, we make a copy:
00087       shapes::Shape* copy = shapes_[i]->clone();
00088       copy->padd(padding);
00089       shapes_[i].reset(copy);
00090     }
00091   }
00092 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45