hpp::model::CollisionObject Class Reference

Specialization of fcl::CollisionObject to add a name to objects. More...

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

List of all members.

Public Member Functions
CollisionObjectPtr_t	clone (const JointPtr_t &joint) const
	Clone object and attach to given joint.
const std::string &	name () const
fcl::CollisionObjectPtr_t	fcl () const
	Access to fcl object.
const JointPtr_t &	joint ()
	Get joint.
void	joint (const JointPtr_t joint)
	Set joint.
const fcl::Transform3f &	positionInJointFrame () const
	Return the position in the joint frame.
const fcl::Transform3f &	getTransform () const
	Return transform of the fcl object.
void	move (const Transform3f &position)
	Move object to given position.
Static Public Member Functions
static CollisionObjectPtr_t	create (fcl::CollisionObjectPtr_t object, const std::string &name)
	Create collision object and return shared pointer.
static CollisionObjectPtr_t	create (fcl::CollisionGeometryPtr_t geometry, const Transform3f &position, const std::string &name)
	Create collision object and return shared pointer.
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.
	CollisionObject (fcl::CollisionGeometryPtr_t geometry, const Transform3f &position, const std::string &name)
	Wrap fcl collision object and put at given position.
	CollisionObject (const CollisionObject &object)
	Copy constructor.

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Detailed Description

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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Constructor & Destructor Documentation

hpp::model::CollisionObject::CollisionObject	(	fcl::CollisionObjectPtr_t	object,
		const std::string &	name
	)		[inline, explicit, protected]

Wrap fcl collision object at identity position.

hpp::model::CollisionObject::CollisionObject	(	fcl::CollisionGeometryPtr_t	geometry,
		const Transform3f &	position,
		const std::string &	name
	)		[inline, explicit, protected]

Wrap fcl collision object and put at given position.

hpp::model::CollisionObject::CollisionObject

(

const CollisionObject &

object

)

[inline, explicit, protected]

Copy constructor.

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Member Function Documentation

CollisionObjectPtr_t hpp::model::CollisionObject::clone

(

const JointPtr_t &

joint

)

const

Clone object and attach to given joint.

static CollisionObjectPtr_t hpp::model::CollisionObject::create	(	fcl::CollisionObjectPtr_t	object,
		const std::string &	name
	)		[static]

Create collision object and return shared pointer.

static CollisionObjectPtr_t hpp::model::CollisionObject::create	(	fcl::CollisionGeometryPtr_t	geometry,
		const Transform3f &	position,
		const std::string &	name
	)		[static]

Create collision object and return shared pointer.

fcl::CollisionObjectPtr_t hpp::model::CollisionObject::fcl

(

)

const [inline]

Access to fcl object.

const fcl::Transform3f& hpp::model::CollisionObject::getTransform

(

)

const [inline]

Return transform of the fcl 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 fcl.

void hpp::model::CollisionObject::init

(

const CollisionObjectWkPtr_t &

self

)

[inline, protected]

const JointPtr_t& hpp::model::CollisionObject::joint

(

)

[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.

Note:

If object is attached to a joint, throw exception.

const std::string& hpp::model::CollisionObject::name

(

)

const [inline]

const fcl::Transform3f& hpp::model::CollisionObject::positionInJointFrame

(

)

const [inline]

Return the position in the joint frame.