hpp-affordance  4.15.1
Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.
hpp::affordance::Affordance Class Reference

#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 fcl::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
idxVecvector of triangle indices corresponding to the mesh model within the reference fcl::collisionObject
colObjreference to pointer to fcl::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: