#include <multibody/geometry.hpp>
Public Types | |
typedef Model::Index | Index |
typedef Model::JointIndex | JointIndex |
typedef Model::GeomIndex | GeomIndex |
Public Member Functions | |
GeometryObject (const GeometryType type, const std::string &name, const JointIndex parent, const fcl::CollisionObject &collision, const SE3 &placement, const std::string &mesh_path) | |
GeometryObject & | operator= (const GeometryObject &other) |
Public Attributes | |
GeometryType | type |
Type of the GeometryObject. Cann be VISUAL, COLLISION, or NONE (cf GeometryType enumeration) | |
std::string | name |
Name of the geometry object. | |
JointIndex | parent |
Index of the parent joint. | |
fcl::CollisionObject | collision_object |
The actual cloud of points representing the collision mesh of the object. | |
SE3 | placement |
Position of geometry object in parent joint's frame. | |
std::string | mesh_path |
Absolute path to the mesh file. |
se3::GeometryObject::GeometryObject | ( | const GeometryType | type, |
const std::string & | name, | ||
const JointIndex | parent, | ||
const fcl::CollisionObject & | collision, | ||
const SE3 & | placement, | ||
const std::string & | mesh_path | ||
) | [inline] |
GeometryObject& se3::GeometryObject::operator= | ( | const GeometryObject & | other | ) | [inline] |
fcl::CollisionObject se3::GeometryObject::collision_object |
The actual cloud of points representing the collision mesh of the object.
Referenced by operator=(), and se3::operator==().
std::string se3::GeometryObject::mesh_path |
Absolute path to the mesh file.
Referenced by se3::operator<<(), operator=(), se3::operator==(), and se3::python::GeometryObjectPythonVisitor::visit().
std::string se3::GeometryObject::name |
Name of the geometry object.
Referenced by se3::operator<<(), operator=(), se3::operator==(), and se3::python::GeometryObjectPythonVisitor::visit().
Index of the parent joint.
Referenced by se3::operator<<(), operator=(), se3::operator==(), and se3::python::GeometryObjectPythonVisitor::visit().
Position of geometry object in parent joint's frame.
Referenced by se3::operator<<(), operator=(), and se3::operator==().
Type of the GeometryObject. Cann be VISUAL, COLLISION, or NONE (cf GeometryType enumeration)
Referenced by se3::operator<<(), operator=(), and se3::operator==().