hpp::pinocchio::CollisionObject Class Reference

#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)
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
FclConstCollisionObjectPtr_t	fcl (const DeviceData &d) const
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
const Transform3f &	getTransform () const
const Transform3f &	getTransform (DeviceData &d) const
const GeomIndex &	indexInModel () const
void	move (const Transform3f &position)

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

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]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

const GeomData &

data

)

const

Access to fcl object.

fcl() [2/6]

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

GeomData &

data

)

const

fcl() [3/6]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

)

const

fcl() [4/6]

FclCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

)

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]

FclConstCollisionObjectPtr_t hpp::pinocchio::CollisionObject::fcl

(

const DeviceData &

d

)

const

getFclTransform()

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.

getTransform() [1/2]

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

(

)

const

getTransform() [2/2]

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

(

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 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.

name()

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

(

)

const

pinocchio() [1/2]

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

(

)

const

Access to pinocchio object.

pinocchio() [2/2]

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

(

)

positionInJointFrame()

const Transform3f& 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