se3::GeometryModel Class Reference

#include <multibody/geometry.hpp>

Collaboration diagram for se3::GeometryModel:
[legend]

List of all members.

Public Types

typedef Model::Index Index

Public Member Functions

 GeometryModel ()
 ~GeometryModel ()
Index addGeomObject (Index parent, const fcl::CollisionObject &co, const SE3 &placement, const std::string &geoName="")
Index getGeomId (const std::string &name) const
bool existGeomName (const std::string &name) const
const std::string & getGeomName (Index index) const
void addInnerObject (Index joint, Index inner_object)
void addOutterObject (Index joint, Index outer_object)

Public Attributes

Index ngeom
std::vector< fcl::CollisionObject > collision_objects
std::vector< std::string > geom_names
std::vector< Indexgeom_parents
std::vector< SE3geometryPlacement
std::map< Index, std::list
< Index > > 
innerObjects
std::map< Index, std::list
< Index > > 
outerObjects

Friends

std::ostream & operator<< (std::ostream &os, const GeometryModel &model_geom)

Member Typedef Documentation


Constructor & Destructor Documentation

se3::GeometryModel::GeometryModel ( ) [inline]
se3::GeometryModel::~GeometryModel ( ) [inline]

Member Function Documentation

GeometryModel::Index se3::GeometryModel::addGeomObject ( Index  parent,
const fcl::CollisionObject &  co,
const SE3 placement,
const std::string &  geoName = "" 
) [inline]
void se3::GeometryModel::addInnerObject ( Index  joint,
Index  inner_object 
) [inline]

References innerObjects.

void se3::GeometryModel::addOutterObject ( Index  joint,
Index  outer_object 
) [inline]

References outerObjects.

bool se3::GeometryModel::existGeomName ( const std::string &  name) const [inline]

References geom_names.

GeometryModel::Index se3::GeometryModel::getGeomId ( const std::string &  name) const [inline]

References collision_objects, and geom_names.

const std::string & se3::GeometryModel::getGeomName ( Index  index) const [inline]

References collision_objects, and geom_names.


Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  os,
const GeometryModel model_geom 
) [friend]

Member Data Documentation

std::map< Index, std::list<Index> > se3::GeometryModel::innerObjects

Referenced by addInnerObject().

std::map< Index, std::list<Index> > se3::GeometryModel::outerObjects

Referenced by addOutterObject().