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

A representation of an object. More...

#include <world.h>

Public Member Functions

 Object (const std::string &object_id)
 

Public Attributes

EigenSTL::vector_Isometry3d global_shape_poses_
 The poses of the corresponding entries in shapes_, relative to the world frame. More...
 
moveit::core::FixedTransformsMap global_subframe_poses_
 Transforms from the world frame to the object subframes. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string id_
 The id for this object. More...
 
Eigen::Isometry3d pose_
 The object's pose. All shapes and subframes are defined relative to this frame. This frame is returned when getTransform() is called with the object's name. More...
 
EigenSTL::vector_Isometry3d shape_poses_
 The poses of the corresponding entries in shapes_, relative to the object pose. More...
 
std::vector< shapes::ShapeConstPtrshapes_
 All the shapes making up this object. More...
 
moveit::core::FixedTransformsMap subframe_poses_
 Transforms from the object pose to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base). More...
 

Detailed Description

A representation of an object.

Definition at line 79 of file world.h.

Constructor & Destructor Documentation

◆ Object()

collision_detection::World::Object::Object ( const std::string object_id)
inline

Definition at line 81 of file world.h.

Member Data Documentation

◆ global_shape_poses_

EigenSTL::vector_Isometry3d collision_detection::World::Object::global_shape_poses_

The poses of the corresponding entries in shapes_, relative to the world frame.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Definition at line 107 of file world.h.

◆ global_subframe_poses_

moveit::core::FixedTransformsMap collision_detection::World::Object::global_subframe_poses_

Transforms from the world frame to the object subframes.

Definition at line 117 of file world.h.

◆ id_

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

The id for this object.

Definition at line 88 of file world.h.

◆ pose_

Eigen::Isometry3d collision_detection::World::Object::pose_

The object's pose. All shapes and subframes are defined relative to this frame. This frame is returned when getTransform() is called with the object's name.

Definition at line 92 of file world.h.

◆ shape_poses_

EigenSTL::vector_Isometry3d collision_detection::World::Object::shape_poses_

The poses of the corresponding entries in shapes_, relative to the object pose.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Definition at line 102 of file world.h.

◆ shapes_

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.

Definition at line 97 of file world.h.

◆ subframe_poses_

moveit::core::FixedTransformsMap collision_detection::World::Object::subframe_poses_

Transforms from the object pose to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base).

Definition at line 113 of file world.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Dec 3 2021 03:23:22