GeometryObject Struct Reference

Collaboration diagram for GeometryObject:

Public Member Functions
	GeometryObject (const std::string &name, const FrameIndex parentF, const JointIndex parentJ, const boost::shared_ptr< fcl::CollisionGeometry > &collision, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d::Zero(), const std::string &meshTexturePath="")
GeometryObject &	operator= (const GeometryObject &other)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	name
	Name of the geometry object.
FrameIndex	parentFrame
	Index of the parent frame. More...
JointIndex	parentJoint
	Index of the parent joint.
boost::shared_ptr< fcl::CollisionGeometry >	fcl
	The actual cloud of points representing the collision mesh of the object after scaling.
SE3	placement
	Position of geometry object in parent joint frame.
std::string	meshPath
	Absolute path to the mesh file.
Eigen::Vector3d	meshScale
	Scaling vector applied to the fcl object.
bool	overrideMaterial
	Decide whether to override the Material.
Eigen::Vector4d	meshColor
	RGBA color value of the mesh.
std::string	meshTexturePath
	Absolute path to the mesh texture file.

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryObject &geomObject)

Detailed Description

Definition at line 87 of file fcl.hpp.

Member Data Documentation

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (set to -1) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.

Definition at line 99 of file fcl.hpp.

Referenced by CollisionPair::CollisionPair().

---

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

• fcl.hpp