std::vector< shapes::ShapeConstPtr > shapes_
The geometries of the attached body.
AttachedBody(const LinkModel *link, const std::string &id, const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Isometry3d &attach_trans, const std::set< std::string > &touch_links, const trajectory_msgs::JointTrajectory &attach_posture)
Construct an attached body for a specified link. The name of this body is id and it consists of shape...
void setScale(double scale)
Set the scale for the shapes of this attached object.
The global transforms for these attached bodies (computed by forward kinematics)
void setPadding(double padding)
Set the padding for the shapes of this attached object.