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

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

Detailed Description

Definition at line 76 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 88 of file fcl.hpp.

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

• fcl.hpp