Public Member Functions | Public Attributes | List of all members
collision_detection::CollisionGeometryData Struct Reference

Wrapper around world, link and attached objects' geometry data. More...

#include <collision_common.h>

Public Member Functions

 CollisionGeometryData (const robot_model::LinkModel *link, int index)
 Constructor for a robot link collision geometry object. More...
 
 CollisionGeometryData (const robot_state::AttachedBody *ab, int index)
 Constructor for a new collision geometry object which is attached to the robot. More...
 
 CollisionGeometryData (const World::Object *obj, int index)
 Constructor for a new world collision geometry. More...
 
const std::string & getID () const
 Returns the name which is saved in the member pointed to in ptr. More...
 
std::string getTypeString () const
 Returns a string of the corresponding type. More...
 
bool sameObject (const CollisionGeometryData &other) const
 Check if two CollisionGeometryData objects point to the same source object. More...
 

Public Attributes

union {
   const robot_state::AttachedBody *   ab
 
   const robot_model::LinkModel *   link
 
   const World::Object *   obj
 
   const void *   raw
 
ptr
 Points to the type of body which contains the geometry. More...
 
int shape_index
 Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object. More...
 
BodyType type
 Indicates the body type of the object. More...
 

Detailed Description

Wrapper around world, link and attached objects' geometry data.

Definition at line 63 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Constructor & Destructor Documentation

◆ CollisionGeometryData() [1/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const robot_model::LinkModel link,
int  index 
)
inline

Constructor for a robot link collision geometry object.

Definition at line 66 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ CollisionGeometryData() [2/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const robot_state::AttachedBody ab,
int  index 
)
inline

Constructor for a new collision geometry object which is attached to the robot.

Definition at line 72 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ CollisionGeometryData() [3/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const World::Object obj,
int  index 
)
inline

Constructor for a new world collision geometry.

Definition at line 79 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Member Function Documentation

◆ getID()

const std::string& collision_detection::CollisionGeometryData::getID ( ) const
inline

Returns the name which is saved in the member pointed to in ptr.

Definition at line 85 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ getTypeString()

std::string collision_detection::CollisionGeometryData::getTypeString ( ) const
inline

Returns a string of the corresponding type.

Definition at line 100 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ sameObject()

bool collision_detection::CollisionGeometryData::sameObject ( const CollisionGeometryData other) const
inline

Check if two CollisionGeometryData objects point to the same source object.

Definition at line 115 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Member Data Documentation

◆ ab

const robot_state::AttachedBody* collision_detection::CollisionGeometryData::ab

◆ link

const robot_model::LinkModel* collision_detection::CollisionGeometryData::link

◆ obj

const World::Object* collision_detection::CollisionGeometryData::obj

◆ ptr

union { ... } collision_detection::CollisionGeometryData::ptr

Points to the type of body which contains the geometry.

◆ raw

const void* collision_detection::CollisionGeometryData::raw

◆ shape_index

int collision_detection::CollisionGeometryData::shape_index

Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object.

Definition at line 127 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ type

BodyType collision_detection::CollisionGeometryData::type

Indicates the body type of the object.

Definition at line 121 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Jan 23 2020 03:50:49