Public Member Functions | Public Attributes
collision_detection::World::Object Struct Reference

A representation of an object. More...

#include <world.h>

List of all members.

Public Member Functions

 Object (const std::string &id)

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
std::string 
id_
 The id for this object.
EigenSTL::vector_Affine3d shape_poses_
 The poses of the corresponding entries in shapes_.
std::vector
< shapes::ShapeConstPtr
shapes_
 All the shapes making up this object.

Detailed Description

A representation of an object.

Definition at line 77 of file world.h.


Constructor & Destructor Documentation

collision_detection::World::Object::Object ( const std::string &  id) [inline]

Definition at line 79 of file world.h.


Member Data Documentation

The id for this object.

Definition at line 86 of file world.h.

The poses of the corresponding entries in shapes_.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Note:
Although the code generally supports having multiple shapes per object, there are many cases where it is better to have only a single shape per object. For instance planning_scene::PlanningScene::getFrameTransform() will return the pose of an Object. As defined here, the pose of a multi-shaped object is ambiguous, so getFrameTransform() just returns the pose of the first Shape in the object.

Definition at line 104 of file world.h.

All the shapes making up this object.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Note:
Although the code generally supports having multiple shapes per object, there are many cases where it is better to have only a single shape per object. For instance planning_scene::PlanningScene::getFrameTransform() will return the pose of an Object. As defined here, the pose of a multi-shaped object is ambiguous, so getFrameTransform() just returns the pose of the first Shape in the object.

Definition at line 99 of file world.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36