#include <geometry-object.hpp>

Inheritance diagram for pinocchio::GeometryObject:

[legend]

Public Types
enum	{ Options = traits<GeometryObject>::Options }

typedef std::shared_ptr< fcl::CollisionGeometry >	CollisionGeometryPtr

typedef traits< GeometryObject >::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from pinocchio::ModelItem< GeometryObject >
enum

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from pinocchio::NumericalBase< GeometryObject >
typedef traits< GeometryObject >::Scalar	Scalar

Public Member Functions
GeometryObject	clone () const
	Perform a deep copy of this. It will create a copy of the underlying FCL geometry. More...

	GeometryObject (const GeometryObject &other)=default

PINOCCHIO_DEPRECATED	GeometryObject (const std::string &name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
	Full constructor. More...

PINOCCHIO_DEPRECATED	GeometryObject (const std::string &name, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
	Reduced constructor. More...

	GeometryObject (const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &placement, const CollisionGeometryPtr &collision_geometry, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
	Full constructor. More...

	GeometryObject (const std::string &name, const JointIndex parent_joint, const SE3 &placement, const CollisionGeometryPtr &collision_geometry, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d(0, 0, 0, 1), const std::string &meshTexturePath="", const GeometryMaterial &meshMaterial=GeometryNoMaterial())
	Reduced constructor. More...

bool	operator!= (const GeometryObject &other) const

GeometryObject &	operator= (const GeometryObject &other)=default

bool	operator== (const GeometryObject &other) const

Public Member Functions inherited from pinocchio::ModelItem< GeometryObject >
	ModelItem ()
	Default constructor of ModelItem. More...

	ModelItem (const std::string &name, const JointIndex parent_joint, const FrameIndex parent_frame, const SE3 &frame_placement)
	Builds a kinematic element defined by its name, its joint parent id, its parent frame id and its placement. More...

bool	operator== (const ModelItem &other) const

Public Member Functions inherited from pinocchio::serialization::Serializable< GeometryObject >
void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container. More...

void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file. More...

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container. More...

void	loadFromString (const std::string &str)
	Loads a Derived object from a string. More...

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string. More...

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file. More...

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file. More...

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container. More...

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file. More...

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container. More...

std::string	saveToString () const
	Saves a Derived object to a string. More...

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream. More...

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file. More...

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelItem< GeometryObject >	Base

bool	disableCollision
	If true, no collision or distance check will be done between the Geometry and any other geometry. More...

CollisionGeometryPtr	geometry
	The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.) More...

Eigen::Vector4d	meshColor
	RGBA color value of the GeometryObject::geometry object. More...

GeometryMaterial	meshMaterial
	Material associated to the mesh. This material should be used only if overrideMaterial is set to true. In other case, the mesh default material must be used. More...

std::string	meshPath
	Absolute path to the mesh file (if the geometry pointee is also a Mesh) More...

Eigen::Vector3d	meshScale
	Scaling vector applied to the GeometryObject::geometry object. More...

std::string	meshTexturePath
	Absolute path to the mesh texture file. More...

bool	overrideMaterial
	Decide whether to override the Material. More...

Public Attributes inherited from pinocchio::ModelItem< GeometryObject >
std::string	name
	Name of the kinematic element. More...

FrameIndex	parentFrame
	Index of the parent frame. More...

JointIndex	parentJoint
	Index of the parent joint. More...

SE3	placement
	Position of kinematic element in parent joint frame. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef traits< GeometryObject >::Scalar	Scalar

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryObject &geomObject)

Detailed Description

Definition at line 87 of file multibody/geometry-object.hpp.

Member Typedef Documentation

◆ CollisionGeometryPtr

typedef std::shared_ptr<fcl::CollisionGeometry> pinocchio::GeometryObject::CollisionGeometryPtr

Definition at line 102 of file multibody/geometry-object.hpp.

◆ Scalar

typedef traits<GeometryObject>::Scalar pinocchio::GeometryObject::Scalar

Definition at line 94 of file multibody/geometry-object.hpp.

◆ SE3

typedef SE3Tpl<Scalar, Options> pinocchio::GeometryObject::SE3

Definition at line 100 of file multibody/geometry-object.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
Options

Definition at line 95 of file multibody/geometry-object.hpp.

Constructor & Destructor Documentation

◆ GeometryObject() [1/5]

pinocchio::GeometryObject::GeometryObject	(	const std::string &	name,
		const JointIndex	parent_joint,
		const FrameIndex	parent_frame,
		const SE3 &	placement,
		const CollisionGeometryPtr &	collision_geometry,
		const std::string &	meshPath = `""`,
		const Eigen::Vector3d &	meshScale = `Eigen::Vector3d::Ones()`,
		const bool	overrideMaterial = `false`,
		const Eigen::Vector4d &	meshColor = `Eigen::Vector4d(0, 0, 0, 1)`,
		const std::string &	meshTexturePath = `""`,
		const GeometryMaterial &	meshMaterial = `GeometryNoMaterial()`
	)

inline

Full constructor.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	parent_frame	Index of the parent frame.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	collision_geometry	The FCL collision geometry object.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].
[in]	meshMaterial	Material of the mesh [if applicable].

Definition at line 151 of file multibody/geometry-object.hpp.

◆ GeometryObject() [2/5]

pinocchio::GeometryObject::GeometryObject	(	const std::string &	name,
		const JointIndex	parent_joint,
		const SE3 &	placement,
		const CollisionGeometryPtr &	collision_geometry,
		const std::string &	meshPath = `""`,
		const Eigen::Vector3d &	meshScale = `Eigen::Vector3d::Ones()`,
		const bool	overrideMaterial = `false`,
		const Eigen::Vector4d &	meshColor = `Eigen::Vector4d(0, 0, 0, 1)`,
		const std::string &	meshTexturePath = `""`,
		const GeometryMaterial &	meshMaterial = `GeometryNoMaterial()`
	)

inline

Reduced constructor.

Remarks: Compared to the other constructor, this one assumes that there is no parentFrame associated to the geometry.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	collision_geometry	The FCL collision geometry object.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].
[in]	meshMaterial	Material of the mesh [if applicable].

Definition at line 191 of file multibody/geometry-object.hpp.

◆ GeometryObject() [3/5]

PINOCCHIO_DEPRECATED pinocchio::GeometryObject::GeometryObject	(	const std::string &	name,
		const FrameIndex	parent_frame,
		const JointIndex	parent_joint,
		const CollisionGeometryPtr &	collision_geometry,
		const SE3 &	placement,
		const std::string &	meshPath = `""`,
		const Eigen::Vector3d &	meshScale = `Eigen::Vector3d::Ones()`,
		const bool	overrideMaterial = `false`,
		const Eigen::Vector4d &	meshColor = `Eigen::Vector4d(0, 0, 0, 1)`,
		const std::string &	meshTexturePath = `""`,
		const GeometryMaterial &	meshMaterial = `GeometryNoMaterial()`
	)

inline

Full constructor.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_frame	Index of the parent frame.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].
[in]	meshMaterial	Material of the mesh [if applicable].

Deprecated:: This constructor is now deprecated, and its argument order has been changed.

Definition at line 231 of file multibody/geometry-object.hpp.

◆ GeometryObject() [4/5]

PINOCCHIO_DEPRECATED pinocchio::GeometryObject::GeometryObject	(	const std::string &	name,
		const JointIndex	parent_joint,
		const CollisionGeometryPtr &	collision_geometry,
		const SE3 &	placement,
		const std::string &	meshPath = `""`,
		const Eigen::Vector3d &	meshScale = `Eigen::Vector3d::Ones()`,
		const bool	overrideMaterial = `false`,
		const Eigen::Vector4d &	meshColor = `Eigen::Vector4d(0, 0, 0, 1)`,
		const std::string &	meshTexturePath = `""`,
		const GeometryMaterial &	meshMaterial = `GeometryNoMaterial()`
	)

inline

Reduced constructor.

Remarks: Compared to the other constructor, this one assumes that there is no parentFrame associated to the geometry.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].
[in]	meshMaterial	Material of the mesh [if applicable].

Deprecated:: This constructor is now deprecated, and its argument order has been changed.

Definition at line 273 of file multibody/geometry-object.hpp.

◆ GeometryObject() [5/5]

pinocchio::GeometryObject::GeometryObject ( const GeometryObject & other )

default

Member Function Documentation

◆ clone()

GeometryObject pinocchio::GeometryObject::clone ( ) const

inline

Perform a deep copy of this. It will create a copy of the underlying FCL geometry.

Definition at line 302 of file multibody/geometry-object.hpp.

◆ operator!=()

bool pinocchio::GeometryObject::operator!= ( const GeometryObject & other ) const

inline

Definition at line 327 of file multibody/geometry-object.hpp.

◆ operator=()

GeometryObject& pinocchio::GeometryObject::operator= ( const GeometryObject & other )

default

◆ operator==()

bool pinocchio::GeometryObject::operator== ( const GeometryObject & other ) const

inline

Definition at line 314 of file multibody/geometry-object.hpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const GeometryObject &	geomObject
	)

friend

Member Data Documentation

◆ Base

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelItem<GeometryObject> pinocchio::GeometryObject::Base

Definition at line 93 of file multibody/geometry-object.hpp.

◆ disableCollision

bool pinocchio::GeometryObject::disableCollision

If true, no collision or distance check will be done between the Geometry and any other geometry.

Definition at line 134 of file multibody/geometry-object.hpp.

◆ geometry

CollisionGeometryPtr pinocchio::GeometryObject::geometry

The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.)

Definition at line 110 of file multibody/geometry-object.hpp.

◆ meshColor

Eigen::Vector4d pinocchio::GeometryObject::meshColor

RGBA color value of the GeometryObject::geometry object.

Definition at line 122 of file multibody/geometry-object.hpp.

◆ meshMaterial

GeometryMaterial pinocchio::GeometryObject::meshMaterial

Material associated to the mesh. This material should be used only if overrideMaterial is set to true. In other case, the mesh default material must be used.

Definition at line 127 of file multibody/geometry-object.hpp.

◆ meshPath

std::string pinocchio::GeometryObject::meshPath

Absolute path to the mesh file (if the geometry pointee is also a Mesh)

Definition at line 113 of file multibody/geometry-object.hpp.

◆ meshScale

Eigen::Vector3d pinocchio::GeometryObject::meshScale

Scaling vector applied to the GeometryObject::geometry object.

Definition at line 116 of file multibody/geometry-object.hpp.

◆ meshTexturePath

std::string pinocchio::GeometryObject::meshTexturePath

Absolute path to the mesh texture file.

Definition at line 130 of file multibody/geometry-object.hpp.

◆ overrideMaterial

bool pinocchio::GeometryObject::overrideMaterial

Decide whether to override the Material.

Definition at line 119 of file multibody/geometry-object.hpp.

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

multibody/geometry-object.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ CollisionGeometryPtr

◆ Scalar

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ GeometryObject() [1/5]

◆ GeometryObject() [2/5]

◆ GeometryObject() [3/5]

◆ GeometryObject() [4/5]

◆ GeometryObject() [5/5]

Member Function Documentation

◆ clone()

◆ operator!=()

◆ operator=()

◆ operator==()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ Base

◆ disableCollision

◆ geometry

◆ meshColor

◆ meshMaterial

◆ meshPath

◆ meshScale

◆ meshTexturePath

◆ overrideMaterial