#include <collision_distance_field_types.h>
Public Member Functions | |
const Eigen::Vector3d & | getBoundingSphereCenter () const |
double | getBoundingSphereRadius () const |
const EigenSTL::vector_Vector3d & | getCollisionPoints () const |
const std::vector< CollisionSphere > & | getCollisionSpheres () const |
const EigenSTL::vector_Vector3d & | getSphereCenters () const |
const std::vector< double > & | getSphereRadii () const |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | PosedBodySphereDecomposition (const BodyDecompositionConstPtr &body_decomposition) |
void | updatePose (const Eigen::Affine3d &linkTransform) |
Protected Attributes | |
BodyDecompositionConstPtr | body_decomposition_ |
Eigen::Vector3d | posed_bounding_sphere_center_ |
EigenSTL::vector_Vector3d | posed_collision_points_ |
EigenSTL::vector_Vector3d | sphere_centers_ |
Definition at line 295 of file collision_distance_field_types.h.
collision_detection::PosedBodySphereDecomposition::PosedBodySphereDecomposition | ( | const BodyDecompositionConstPtr & | body_decomposition | ) |
Definition at line 368 of file collision_distance_field_types.cpp.
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Definition at line 321 of file collision_distance_field_types.h.
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Definition at line 326 of file collision_distance_field_types.h.
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Definition at line 312 of file collision_distance_field_types.h.
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Definition at line 302 of file collision_distance_field_types.h.
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Definition at line 307 of file collision_distance_field_types.h.
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Definition at line 317 of file collision_distance_field_types.h.
void collision_detection::PosedBodySphereDecomposition::updatePose | ( | const Eigen::Affine3d & | linkTransform | ) |
Definition at line 377 of file collision_distance_field_types.cpp.
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Definition at line 336 of file collision_distance_field_types.h.
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Definition at line 337 of file collision_distance_field_types.h.
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Definition at line 338 of file collision_distance_field_types.h.
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Definition at line 339 of file collision_distance_field_types.h.