Public Member Functions
bool	InitCollisionMesh (double fTessellation=1.0)

Static Public Member Functions
static void	GenerateSphereTriangulation (std::vector< Vector3 > realvertices, std::vector< int > realindices, int levels)

Public Attributes
Pose	_t
	local transformation of the geom primitive with respect to the link's coordinate system More...

Color	ambientColor
	hints for how to color the meshes More...

Color	diffuseColor

std::vector< int >	indices
	discretization value is chosen. Should be transformed by _t before rendering More...

GeomType	type
	the type of geometry primitive More...

std::vector< Vector3 >	vertices

Vector3	vGeomData

Detailed Description

Definition at line 198 of file collada_parser.cpp.

Member Function Documentation

◆ GenerateSphereTriangulation()

static void urdf::ColladaModelReader::GEOMPROPERTIES::GenerateSphereTriangulation	(	std::vector< Vector3 >	realvertices,
		std::vector< int >	realindices,
		int	levels
	)

inlinestatic

Definition at line 215 of file collada_parser.cpp.

◆ InitCollisionMesh()

bool urdf::ColladaModelReader::GEOMPROPERTIES::InitCollisionMesh ( double fTessellation = 1.0 )

inline

Definition at line 320 of file collada_parser.cpp.

Member Data Documentation

◆ _t

Pose urdf::ColladaModelReader::GEOMPROPERTIES::_t

local transformation of the geom primitive with respect to the link's coordinate system

Definition at line 200 of file collada_parser.cpp.

◆ ambientColor

Color urdf::ColladaModelReader::GEOMPROPERTIES::ambientColor

hints for how to color the meshes

Definition at line 205 of file collada_parser.cpp.

◆ diffuseColor

Color urdf::ColladaModelReader::GEOMPROPERTIES::diffuseColor

Definition at line 205 of file collada_parser.cpp.

◆ indices

std::vector<int> urdf::ColladaModelReader::GEOMPROPERTIES::indices

discretization value is chosen. Should be transformed by _t before rendering

Definition at line 207 of file collada_parser.cpp.

◆ type

GeomType urdf::ColladaModelReader::GEOMPROPERTIES::type

the type of geometry primitive

Definition at line 210 of file collada_parser.cpp.

◆ vertices

std::vector<Vector3> urdf::ColladaModelReader::GEOMPROPERTIES::vertices

Definition at line 206 of file collada_parser.cpp.

◆ vGeomData

Vector3 urdf::ColladaModelReader::GEOMPROPERTIES::vGeomData

for boxes, first 3 values are extents for sphere it is radius for cylinder, first 2 values are radius and height for trimesh, none

Definition at line 201 of file collada_parser.cpp.

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

collada_parser.cpp

Public Member Functions

Static Public Member Functions

Public Attributes