29 #ifndef HPP_CORBASERVER_OBJECT_MAP_HH 30 #define HPP_CORBASERVER_OBJECT_MAP_HH 32 #include <hpp/fcl/BVH/BVH_model.h> 33 #include <hpp/fcl/shape/geometric_shapes.h> 37 #include <pinocchio/fwd.hpp> 40 namespace corbaServer {
55 CollisionGeometryPtr_t
geometry(
const std::string name) ;
59 std::vector<fcl::Vec3f>
pts;
60 std::vector<fcl::Triangle>
tris;
63 typedef std::map<std::string, CollisionGeometryPtr_t>
ShapeMap_t;
69 template <GeomType geomType, ThrowType throwType>
70 bool nameExists(
const std::string& name)
const;
80 #endif // HPP_CORBASERVER_OBJECT_MAP_HH Definition: object-map.hh:58
std::map< std::string, CollisionGeometryPtr_t > ShapeMap_t
Definition: object-map.hh:63
Implement CORBA interface ``Obstacle''.
Definition: client.hh:46
std::size_t addTriangle(const std::string polyhedronName, std::size_t pt1, std::size_t pt2, std::size_t pt3)
bool nameExists(const std::string &name) const
pinocchio::value_type value_type
Definition: fwd.hh:106
void createBox(const std::string boxName, value_type x, value_type y, value_type z)
Definition: object-map.hh:65
Definition: object-map.hh:67
Definition: object-map.hh:67
Definition: object-map.hh:65
Definition: object-map.hh:65
void createSphere(const std::string name, value_type radius)
void createCylinder(const std::string name, value_type radius, value_type length)
CollisionGeometryPtr_t geometry(const std::string name)
ThrowType
Definition: object-map.hh:67
GeomType
Definition: object-map.hh:65
Definition: object-map.hh:67
void createPolyhedron(const std::string polyhedronName)
Definition: object-map.hh:41
std::size_t addPoint(const std::string polyhedronName, value_type x, value_type y, value_type z)
std::vector< fcl::Triangle > tris
Definition: object-map.hh:60
_CORBA_MODULE hpp _CORBA_MODULE_BEG _CORBA_MODULE core_idl _CORBA_MODULE_BEG typedef ::CORBA::ULongLong size_t
Definition: paths-idl.hh:75
std::map< std::string, PolyhedronData > PolyhedronMap_t
Definition: object-map.hh:62
ShapeMap_t shapeMap_
Map of basic shapes.
Definition: object-map.hh:73
PolyhedronMap_t polyhedronMap_
Map of polyhedra in construction.
Definition: object-map.hh:75
std::vector< fcl::Vec3f > pts
Definition: object-map.hh:59