Collaboration diagram for GeometryObject:

Public Types
typedef boost::shared_ptr< fcl::CollisionGeometry >	CollisionGeometryPtr

Public Member Functions
	GeometryObject (const std::string &name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, 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="")
	Full constructor. More...

	GeometryObject (const std::string &name, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, 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="")
	Reduced constructor. More...

	GeometryObject (const GeometryObject &other)

GeometryObject &	operator= (const GeometryObject &other)

Public Attributes
PINOCCHIO_DEPRECATED CollisionGeometryPtr &	fcl
	The former pointer to the FCL CollisionGeometry. More...

CollisionGeometryPtr	geometry
	The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.)

Eigen::Vector4d	meshColor
	RGBA color value of the GeometryObject::fcl object.

std::string	meshPath
	Absolute path to the mesh file (if the fcl pointee is also a Mesh)

Eigen::Vector3d	meshScale
	Scaling vector applied to the GeometryObject::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 83 of file fcl.hpp.

Constructor & Destructor Documentation

◆ GeometryObject() [1/2]

GeometryObject	(	const std::string &	name,
		const FrameIndex	parent_frame,
		const JointIndex	parent_joint,
		const CollisionGeometryPtr &	collision_geometry,
		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 = `""`
	)

inline

Full constructor.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_frame	Index of the parent frame.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].

Definition at line 143 of file fcl.hpp.

◆ GeometryObject() [2/2]

GeometryObject	(	const std::string &	name,
		const JointIndex	parent_joint,
		const CollisionGeometryPtr &	collision_geometry,
		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 = `""`
	)

inline

Reduced constructor.

Remarks: Compared to the other constructor, this one assumes that there is no parentFrame associated to the geometry.

Parameters

[in]	name	Name of the geometry object.
[in]	parent_joint	Index of the parent joint (that supports the geometry).
[in]	collision_geometry	The FCL collision geometry object.
[in]	placement	Placement of the geometry with respect to the joint frame.
[in]	meshPath	Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable].
[in]	meshScale	Scale of the mesh [if applicable].
[in]	overrideMaterial	If true, this option allows to overrite the material [if applicable].
[in]	meshColor	Color of the mesh [if applicable].
[in]	meshTexturePath	Path to the file containing the texture information [if applicable].

Definition at line 183 of file fcl.hpp.

Member Data Documentation

◆ fcl

PINOCCHIO_DEPRECATED CollisionGeometryPtr& fcl

The former pointer to the FCL CollisionGeometry.

Deprecated:: It is now deprecated and has been renamed GeometryObject::geometry

Definition at line 107 of file fcl.hpp.

◆ parentFrame

FrameIndex parentFrame

Index of the parent frame.

Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) 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 97 of file fcl.hpp.

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

src/multibody/fcl.hpp

Public Types

Public Member Functions

Public Attributes