Specialization of fcl::CollisionObject to add a name to objects. More...
#include <hpp/model/collision-object.hh>
Public Member Functions | |
CollisionObjectPtr_t | clone (const JointPtr_t &joint) const |
Clone object and attach to given joint. More... | |
const std::string & | name () const |
fcl::CollisionObjectPtr_t | fcl () const |
Access to fcl object. More... | |
const JointPtr_t & | joint () |
Get joint. More... | |
void | joint (const JointPtr_t joint) |
Set joint. More... | |
const fcl::Transform3f & | positionInJointFrame () const |
Return the position in the joint frame. More... | |
const fcl::Transform3f & | getTransform () const |
Return transform of the fcl object. More... | |
void | move (const Transform3f &position) |
Move object to given position. More... | |
Static Public Member Functions | |
static CollisionObjectPtr_t | create (fcl::CollisionObjectPtr_t object, const std::string &name) |
Create collision object and return shared pointer. More... | |
static CollisionObjectPtr_t | create (fcl::CollisionGeometryPtr_t geometry, const Transform3f &position, const std::string &name) |
Create collision object and return shared pointer. More... | |
Protected Member Functions | |
void | init (const CollisionObjectWkPtr_t &self) |
Construction, destruction and copy | |
CollisionObject (fcl::CollisionObjectPtr_t object, const std::string &name) | |
Wrap fcl collision object at identity position. More... | |
CollisionObject (fcl::CollisionGeometryPtr_t geometry, const Transform3f &position, const std::string &name) | |
Wrap fcl collision object and put at given position. More... | |
CollisionObject (const CollisionObject &object) | |
Copy constructor. More... | |
Specialization of fcl::CollisionObject to add a name to objects.
Objects moved by a robot joint. They can collide each other and distance computation can be computed between them.
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inlineexplicitprotected |
Wrap fcl collision object at identity position.
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inlineexplicitprotected |
Wrap fcl collision object and put at given position.
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inlineexplicitprotected |
Copy constructor.
CollisionObjectPtr_t hpp::model::CollisionObject::clone | ( | const JointPtr_t & | joint | ) | const |
Clone object and attach to given joint.
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static |
Create collision object and return shared pointer.
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static |
Create collision object and return shared pointer.
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inline |
Access to fcl object.
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inline |
Return transform of the fcl object.
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inlineprotected |
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inline |
Get joint.
void hpp::model::CollisionObject::joint | ( | const JointPtr_t | joint | ) |
Set joint.
void hpp::model::CollisionObject::move | ( | const Transform3f & | position | ) |
Move object to given position.
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inline |
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inline |
Return the position in the joint frame.