hpp::pinocchio::CollisionObject Class Reference

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

#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. More...
	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. More...
const std::string &	name () const
const GeometryObject &	pinocchio () const
	Access to pinocchio object. More...
GeometryObject &	pinocchio ()
FclConstCollisionObjectPtr_t	fcl (const GeomData &data) const
	Access to fcl object. More...
FclCollisionObjectPtr_t	fcl (GeomData &data) const
FclConstCollisionObjectPtr_t	fcl () const
FclCollisionObjectPtr_t	fcl ()
FclCollisionObjectPtr_t	fcl (DeviceData &d) const
	Returns the FCL collision object. More...
const JointIndex &	jointIndex () const
	Get joint index. More...
JointPtr_t	joint ()
	Get joint. More...
JointConstPtr_t	joint () const
const Transform3f &	positionInJointFrame () const
	Return the position in the joint frame. More...
const fcl::Transform3f &	getFclTransform () const
	Return transform of the fcl object. More...
const Transform3f &	getTransform () const
const Transform3f &	getTransform (DeviceData &d) const
const GeomIndex &	indexInModel () const
void	move (const Transform3f &position)
	Move object to given position. More...

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

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.

Member Typedef Documentation

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

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

Constructor & Destructor Documentation

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

Constructor for object of the device.

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

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

const GeomData &

data

)

const

Access to fcl object.

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

GeomData &

data

)

const

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

)

const

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

)

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.

const fcl::Transform3f& hpp::pinocchio::CollisionObject::getFclTransform

(

)

const

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.

const Transform3f& hpp::pinocchio::CollisionObject::getTransform

(

)

const

const Transform3f& hpp::pinocchio::CollisionObject::getTransform

(

DeviceData &

d

)

const

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

inline

JointPtr_t hpp::pinocchio::CollisionObject::joint

(

)

Get joint.

JointConstPtr_t hpp::pinocchio::CollisionObject::joint

(

)

const

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

inline

Get joint index.

void hpp::pinocchio::CollisionObject::move

(

const Transform3f &

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.

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

(

)

const

const GeometryObject& hpp::pinocchio::CollisionObject::pinocchio

(

)

const

Access to pinocchio object.

GeometryObject& hpp::pinocchio::CollisionObject::pinocchio

(

)

const Transform3f& hpp::pinocchio::CollisionObject::positionInJointFrame

(

)

const

Return the position in the joint frame.

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

protected

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