collision_proximity::BodyDecomposition Class Reference

#include <collision_proximity_types.h>

List of all members.

Public Member Functions
	BodyDecomposition (const std::string &object_name, const shapes::Shape *shape, double resolution, double padding=0.01)
const bodies::Body *	getBody () const
const std::vector< tf::Vector3 > &	getCollisionPoints () const
const std::vector < CollisionSphere > &	getCollisionSpheres () const
void	updatePointsPose (const tf::Transform &linkTransform)
void	updatePose (const tf::Transform &linkTransform)
void	updateSpheresPose (const tf::Transform &linkTransform)
	~BodyDecomposition ()
Public Attributes
tf::Transform	relative_cylinder_pose_
Private Attributes
bodies::Body *	body_
std::vector< CollisionSphere >	collision_spheres_
std::string	object_name_
std::vector< tf::Vector3 >	posed_collision_points_
std::vector< tf::Vector3 >	relative_collision_points_
Friends
class	BodyDecompositionVector

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Detailed Description

Definition at line 131 of file collision_proximity_types.h.

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Constructor & Destructor Documentation

collision_proximity::BodyDecomposition::BodyDecomposition	(	const std::string &	object_name,
		const shapes::Shape *	shape,
		double	resolution,
		double	padding = 0.01
	)

BodyDecomposition

Definition at line 129 of file collision_proximity_types.cpp.

collision_proximity::BodyDecomposition::~BodyDecomposition

(

)

Definition at line 143 of file collision_proximity_types.cpp.

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Member Function Documentation

const bodies::Body* collision_proximity::BodyDecomposition::getBody

(

)

const [inline]

Definition at line 160 of file collision_proximity_types.h.

const std::vector<tf::Vector3>& collision_proximity::BodyDecomposition::getCollisionPoints

(

)

const [inline]

Definition at line 155 of file collision_proximity_types.h.

const std::vector<CollisionSphere>& collision_proximity::BodyDecomposition::getCollisionSpheres

(

)

const [inline]

Definition at line 150 of file collision_proximity_types.h.

void collision_proximity::BodyDecomposition::updatePointsPose

(

const tf::Transform &

linkTransform

)

Definition at line 157 of file collision_proximity_types.cpp.

void collision_proximity::BodyDecomposition::updatePose

(

const tf::Transform &

linkTransform

)

Definition at line 167 of file collision_proximity_types.cpp.

void collision_proximity::BodyDecomposition::updateSpheresPose

(

const tf::Transform &

linkTransform

)

Definition at line 148 of file collision_proximity_types.cpp.

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Friends And Related Function Documentation

friend class BodyDecompositionVector [friend]

Definition at line 133 of file collision_proximity_types.h.

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Member Data Documentation

bodies::Body* collision_proximity::BodyDecomposition::body_ [private]

Definition at line 169 of file collision_proximity_types.h.

std::vector<CollisionSphere> collision_proximity::BodyDecomposition::collision_spheres_ [private]

Definition at line 171 of file collision_proximity_types.h.

std::string collision_proximity::BodyDecomposition::object_name_ [private]

Definition at line 167 of file collision_proximity_types.h.

std::vector<tf::Vector3> collision_proximity::BodyDecomposition::posed_collision_points_ [private]

Definition at line 173 of file collision_proximity_types.h.

std::vector<tf::Vector3> collision_proximity::BodyDecomposition::relative_collision_points_ [private]

Definition at line 172 of file collision_proximity_types.h.

tf::Transform collision_proximity::BodyDecomposition::relative_cylinder_pose_

Definition at line 141 of file collision_proximity_types.h.

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The documentation for this class was generated from the following files:

• collision_proximity_types.h
• collision_proximity_types.cpp