collision_detection::World::Object Struct Reference

A representation of an object. More...

#include <world.h>

List of all members.

Public Member Functions
	Object (const std::string &id)
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	id_
	The id for this object.
EigenSTL::vector_Affine3d	shape_poses_
	The poses of the corresponding entries in shapes_.
std::vector < shapes::ShapeConstPtr >	shapes_
	All the shapes making up this object.

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Detailed Description

A representation of an object.

Definition at line 72 of file world.h.

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Constructor & Destructor Documentation

collision_detection::World::Object::Object

(

const std::string &

id

)

[inline]

Definition at line 74 of file world.h.

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Member Data Documentation

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

The id for this object.

Definition at line 79 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 97 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 92 of file world.h.

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

• world.h