A representation of an object.
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#include <world.h>
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| Object (const std::string &id) |
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A representation of an object.
Definition at line 80 of file world.h.
collision_detection::World::Object::Object |
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const std::string & |
id | ) |
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inline |
The id for this object.
Definition at line 89 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 107 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 102 of file world.h.
The documentation for this struct was generated from the following file: