#include <multibody/geometry.hpp>
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< Index > | geom_parents |
std::vector< SE3 > | geometryPlacement |
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) |
se3::GeometryModel::GeometryModel | ( | ) | [inline] |
se3::GeometryModel::~GeometryModel | ( | ) | [inline] |
GeometryModel::Index se3::GeometryModel::addGeomObject | ( | Index | parent, |
const fcl::CollisionObject & | co, | ||
const SE3 & | placement, | ||
const std::string & | geoName = "" |
||
) | [inline] |
References collision_objects, geom_names, geom_parents, geometryPlacement, ngeom, and se3::random().
References innerObjects.
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.
std::ostream& operator<< | ( | std::ostream & | os, |
const GeometryModel & | model_geom | ||
) | [friend] |
std::vector<fcl::CollisionObject> se3::GeometryModel::collision_objects |
Referenced by addGeomObject(), se3::GeometryData::collide(), se3::GeometryData::computeDistance(), getGeomId(), and getGeomName().
std::vector<std::string> se3::GeometryModel::geom_names |
Referenced by addGeomObject(), existGeomName(), getGeomId(), getGeomName(), and se3::operator<<().
std::vector<Index> se3::GeometryModel::geom_parents |
Referenced by addGeomObject(), se3::operator<<(), and se3::updateCollisionGeometry().
std::vector<SE3> se3::GeometryModel::geometryPlacement |
Referenced by addGeomObject(), se3::operator<<(), and se3::updateCollisionGeometry().
std::map< Index, std::list<Index> > se3::GeometryModel::innerObjects |
Referenced by addInnerObject().
std::map< Index, std::list<Index> > se3::GeometryModel::outerObjects |
Referenced by addOutterObject().