A representation of an object. More...

#include <world.h>

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	id_
	The id for this object. More...

EigenSTL::vector_Affine3d	shape_poses_
	The poses of the corresponding entries in shapes_. More...

std::vector< shapes::ShapeConstPtr >	shapes_
	All the shapes making up this object. More...

Detailed Description

A representation of an object.

Definition at line 80 of file world.h.

Constructor & Destructor Documentation

collision_detection::World::Object::Object ( const std::string & id )

inline

Definition at line 82 of file world.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string collision_detection::World::Object::id_

The id for this object.

Definition at line 89 of file world.h.

EigenSTL::vector_Affine3d collision_detection::World::Object::shape_poses_

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.

std::vector<shapes::ShapeConstPtr> collision_detection::World::Object::shapes_

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: