hpp-affordance
4.9.0
Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.
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#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_ |
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.
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inline |
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inline |
Constructor for an Affordance object
idxVec | vector of triangle indices corresponding to the mesh model within the reference fcl::collisionObject |
colObj | reference to pointer to fcl::collisionObject containing the found affordance objects. |
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.