#include <hpp/pinocchio/collision-object.hh>

Public Types
typedef std::vector< GeomIndex >	GeomIndexList

typedef std::map< JointIndex, GeomIndexList >	ObjectVec_t

Public Member Functions
	CollisionObject (DevicePtr_t device, const GeomIndex geom)
	Constructor for object of the device.

	CollisionObject (GeomModelPtr_t geomModel, GeomDataPtr_t geomData, const GeomIndex geom)

const std::string &	name () const

const GeometryObject &	pinocchio () const
	Access to pinocchio object.

GeometryObject &	pinocchio ()

CollisionGeometryPtr_t	geometry () const
	Access to coal object.

FclConstCollisionObjectPtr_t	fcl (const GeomData &data) const
	Access to coal object.

FclCollisionObjectPtr_t	fcl (GeomData &data) const

FclConstCollisionObjectPtr_t	fcl () const

FclCollisionObjectPtr_t	fcl ()

FclCollisionObjectPtr_t	fcl (DeviceData &d) const

FclConstCollisionObjectPtr_t	fcl (const DeviceData &d) const

const JointIndex &	jointIndex () const
	Get joint index.

JointPtr_t	joint ()
	Get joint.

JointConstPtr_t	joint () const

const Transform3s &	positionInJointFrame () const
	Return the position in the joint frame.

coal::Transform3s	getFclTransform () const

const Transform3s &	getTransform () const

const Transform3s &	getTransform (const DeviceData &d) const

const GeomIndex &	indexInModel () const

void	move (const Transform3s &position)

Protected Member Functions
void	selfAssert () const
	Assert that the members of the struct are valid (no null pointer, etc).

Detailed Description

Specialization of coal::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.

Member Typedef Documentation

◆ GeomIndexList

typedef std::vector<GeomIndex> hpp::pinocchio::CollisionObject::GeomIndexList

◆ ObjectVec_t

typedef std::map<JointIndex, GeomIndexList> hpp::pinocchio::CollisionObject::ObjectVec_t

Constructor & Destructor Documentation

◆ CollisionObject() [1/2]

hpp::pinocchio::CollisionObject::CollisionObject	(	DevicePtr_t	device,
		const GeomIndex	geom
	)

Constructor for object of the device.

◆ CollisionObject() [2/2]

hpp::pinocchio::CollisionObject::CollisionObject	(	GeomModelPtr_t	geomModel,
		GeomDataPtr_t	geomData,
		const GeomIndex	geom
	)

Constructor for obstacles (object attached to the environment) It is not attached to a Device.

Member Function Documentation

◆ fcl() [1/6]

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( )

◆ fcl() [2/6]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( ) const

◆ fcl() [3/6]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( const DeviceData & d ) const

◆ fcl() [4/6]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( const GeomData & data ) const

Access to coal object.

◆ fcl() [5/6]

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( DeviceData & d ) const

Returns the FCL collision object.

Parameters

d	Ignored if this object represents an obstacle. Otherwise, a DeviceData for the internal device.

◆ fcl() [6/6]

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl ( GeomData & data ) const

◆ geometry()

CollisionGeometryPtr_t hpp::pinocchio::CollisionObject::geometry ( ) const

Access to coal object.

◆ getFclTransform()

coal::Transform3s hpp::pinocchio::CollisionObject::getFclTransform ( ) const

Return transform of the coal object

Warning: If joint linked object -as a robot body- and the robot is manually moved, this will return the non-update transform.

Note: If object is not attached to a joint, use move() to update transform between hpp and coal.

◆ getTransform() [1/2]

const Transform3s & hpp::pinocchio::CollisionObject::getTransform ( ) const

◆ getTransform() [2/2]

const Transform3s & hpp::pinocchio::CollisionObject::getTransform ( const DeviceData & d ) const

◆ indexInModel()

const GeomIndex & hpp::pinocchio::CollisionObject::indexInModel ( ) const

inline

◆ joint() [1/2]

JointPtr_t hpp::pinocchio::CollisionObject::joint ( )

Get joint.

◆ joint() [2/2]

JointConstPtr_t hpp::pinocchio::CollisionObject::joint ( ) const

◆ jointIndex()

const JointIndex & hpp::pinocchio::CollisionObject::jointIndex ( ) const

inline

Get joint index.

◆ move()

void hpp::pinocchio::CollisionObject::move ( const Transform3s & position )

Move object to given position

Note: This method should only be executed on objects not attached to a robot body (ie attached to the "universe", joint 0). This statement is asserted.

◆ name()

const std::string & hpp::pinocchio::CollisionObject::name ( ) const

◆ pinocchio() [1/2]

GeometryObject & hpp::pinocchio::CollisionObject::pinocchio ( )

◆ pinocchio() [2/2]

const GeometryObject & hpp::pinocchio::CollisionObject::pinocchio ( ) const

Access to pinocchio object.

◆ positionInJointFrame()

const Transform3s & hpp::pinocchio::CollisionObject::positionInJointFrame ( ) const

Return the position in the joint frame.

◆ selfAssert()

void hpp::pinocchio::CollisionObject::selfAssert ( ) const

protected

Assert that the members of the struct are valid (no null pointer, etc).

The documentation for this class was generated from the following file:

include/hpp/pinocchio/collision-object.hh

Public Types

Public Member Functions

Protected Member Functions