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hpp::affordance::Affordance Class Reference

Class that saves a reference collision object and indices to those of its mesh triangles that form one affordance object. More...

#include <hpp/affordance/affordance-extraction.hh>

Collaboration diagram for hpp::affordance::Affordance:
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Public Member Functions

 Affordance ()
 
 Affordance (const std::vector< unsigned int > &idxVec, FclConstCollisionObjectPtr_t colObj)
 Constructor for an Affordance object. More...
 

Public Attributes

std::vector< unsigned int > indices_
 Triangle indices that correspond to the triangles of the reference collisionObstacle, and form the affordance object. More...
 
FclConstCollisionObjectPtr_t colObj_
 Reference to the collisionObstacle the surfaces of which are used to create the affordance object. More...
 

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

hpp::affordance::Affordance::Affordance ( )
inline
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

FclConstCollisionObjectPtr_t hpp::affordance::Affordance::colObj_

Reference to the collisionObstacle the surfaces of which are used to create the affordance object.

std::vector<unsigned int> hpp::affordance::Affordance::indices_

Triangle indices that correspond to the triangles of the reference collisionObstacle, and form the affordance object.