hpp-affordance: hpp::affordance::Affordance Class Reference

hpp-affordance 9.0.2 Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.

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Public Member Functions | Public Attributes | List of all members
hpp::affordance::Affordance Class Reference
Affordance

`#include <hpp/affordance/affordance-extraction.hh>`

## Public Member Functions
| Affordance ()
| Affordance (const std::vector< unsigned int > &idxVec, FclConstCollisionObjectPtr_t colObj)

## Public Attributes
std::vector< unsigned int > | indices_
FclConstCollisionObjectPtr_t | colObj_

## Detailed Description

Class that saves a reference collision object and indices to those of its mesh triangles that form one affordance object. This information will later be used to create coal::collisionObjects for each individual affordance.

## Constructor & Destructor Documentation

## ◆ Affordance() [1/2]

hpp::affordance::Affordance::Affordance | ( |  | ) |
| inline

## ◆ Affordance() [2/2]

hpp::affordance::Affordance::Affordance | ( | const std::vector< unsigned int > & | idxVec,
|  | FclConstCollisionObjectPtr_t | colObj )
| inline

Constructor for an Affordance object

Parameters

  idxVec | vector of triangle indices corresponding to the mesh model within the reference coal::collisionObject
  colObj | reference to pointer to coal::collisionObject containing the found affordance objects.

## Member Data Documentation

## ◆ colObj_

FclConstCollisionObjectPtr_t hpp::affordance::Affordance::colObj_

Reference to the collisionObstacle the surfaces of which are used to create the affordance object.

## ◆ indices_

std::vector<unsigned int> hpp::affordance::Affordance::indices_

Triangle indices that correspond to the triangles of the reference collisionObstacle, and form the affordance object.

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

- include/hpp/affordance/affordance-extraction.hh