collision_detection::BodyDecomposition Class Reference

#include <collision_distance_field_types.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BodyDecomposition (const shapes::ShapeConstPtr &shape, double resolution, double padding=0.01)
	BodyDecomposition (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Isometry3d &poses, double resolution, double padding)
	~BodyDecomposition ()
void	replaceCollisionSpheres (const std::vector< CollisionSphere > &new_collision_spheres, const Eigen::Isometry3d &new_relative_cylinder_pose)
const std::vector< CollisionSphere > &	getCollisionSpheres () const
const std::vector< double > &	getSphereRadii () const
const EigenSTL::vector_Vector3d &	getCollisionPoints () const
const bodies::Body *	getBody (unsigned int i) const
unsigned int	getBodiesCount ()
Eigen::Isometry3d	getRelativeCylinderPose () const
const bodies::BoundingSphere &	getRelativeBoundingSphere () const

Public Attributes
Eigen::Isometry3d	relative_cylinder_pose_

Protected Member Functions
void	init (const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Isometry3d &poses, double resolution, double padding)

Protected Attributes
bodies::BodyVector	bodies_
bodies::BoundingSphere	relative_bounding_sphere_
std::vector< double >	sphere_radii_
std::vector< CollisionSphere >	collision_spheres_
EigenSTL::vector_Vector3d	relative_collision_points_

Friends
class	BodyDecompositionVector

Detailed Description

Definition at line 227 of file collision_distance_field_types.h.

Constructor & Destructor Documentation

BodyDecomposition() [1/2]

collision_detection::BodyDecomposition::BodyDecomposition	(	const shapes::ShapeConstPtr &	shape,
		double	resolution,
		double	padding = 0.01
	)

BodyDecomposition

Definition at line 271 of file collision_distance_field_types.cpp.

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BodyDecomposition() [2/2]

collision_detection::BodyDecomposition::BodyDecomposition	(	const std::vector< shapes::ShapeConstPtr > &	shapes,
		const EigenSTL::vector_Isometry3d &	poses,
		double	resolution,
		double	padding
	)

Definition at line 280 of file collision_distance_field_types.cpp.

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~BodyDecomposition()

collision_detection::BodyDecomposition::~BodyDecomposition

(

)

Definition at line 331 of file collision_distance_field_types.cpp.

Member Function Documentation

getBodiesCount()

unsigned int collision_detection::BodyDecomposition::getBodiesCount ( )

inline

Definition at line 272 of file collision_distance_field_types.h.

getBody()

const bodies::Body* collision_detection::BodyDecomposition::getBody ( unsigned int  i ) const

inline

Definition at line 267 of file collision_distance_field_types.h.

getCollisionPoints()

const EigenSTL::vector_Vector3d& collision_detection::BodyDecomposition::getCollisionPoints ( ) const

inline

Definition at line 262 of file collision_distance_field_types.h.

getCollisionSpheres()

const std::vector<CollisionSphere>& collision_detection::BodyDecomposition::getCollisionSpheres ( ) const

inline

Definition at line 252 of file collision_distance_field_types.h.

getRelativeBoundingSphere()

const bodies::BoundingSphere& collision_detection::BodyDecomposition::getRelativeBoundingSphere ( ) const

inline

Definition at line 282 of file collision_distance_field_types.h.

getRelativeCylinderPose()

Eigen::Isometry3d collision_detection::BodyDecomposition::getRelativeCylinderPose ( ) const

inline

Definition at line 277 of file collision_distance_field_types.h.

getSphereRadii()

const std::vector<double>& collision_detection::BodyDecomposition::getSphereRadii ( ) const

inline

Definition at line 257 of file collision_distance_field_types.h.

init()

void collision_detection::BodyDecomposition::init ( const std::vector< shapes::ShapeConstPtr > &  shapes, const EigenSTL::vector_Isometry3d &  poses, double  resolution, double  padding  )

protected

Definition at line 286 of file collision_distance_field_types.cpp.

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replaceCollisionSpheres()

void collision_detection::BodyDecomposition::replaceCollisionSpheres ( const std::vector< CollisionSphere > &  new_collision_spheres, const Eigen::Isometry3d &  new_relative_cylinder_pose  )

inline

Definition at line 243 of file collision_distance_field_types.h.

Friends And Related Function Documentation

BodyDecompositionVector

friend class BodyDecompositionVector

friend

Definition at line 229 of file collision_distance_field_types.h.

Member Data Documentation

bodies_

bodies::BodyVector collision_detection::BodyDecomposition::bodies_

protected

Definition at line 292 of file collision_distance_field_types.h.

collision_spheres_

std::vector<CollisionSphere> collision_detection::BodyDecomposition::collision_spheres_

protected

Definition at line 296 of file collision_distance_field_types.h.

relative_bounding_sphere_

bodies::BoundingSphere collision_detection::BodyDecomposition::relative_bounding_sphere_

protected

Definition at line 294 of file collision_distance_field_types.h.

relative_collision_points_

EigenSTL::vector_Vector3d collision_detection::BodyDecomposition::relative_collision_points_

protected

Definition at line 297 of file collision_distance_field_types.h.

relative_cylinder_pose_

Eigen::Isometry3d collision_detection::BodyDecomposition::relative_cylinder_pose_

Definition at line 241 of file collision_distance_field_types.h.

sphere_radii_

std::vector<double> collision_detection::BodyDecomposition::sphere_radii_

protected

Definition at line 295 of file collision_distance_field_types.h.

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The documentation for this class was generated from the following files:

• moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
• moveit_core/collision_distance_field/src/collision_distance_field_types.cpp