collision_detection::FCLGeometry Struct Reference

Bundles the CollisionGeometryData and FCL collision geometry representation into a single class. More...

#include <collision_common.h>

Public Member Functions
	FCLGeometry ()
	FCLGeometry (fcl::CollisionGeometryd *collision_geometry, const moveit::core::LinkModel *link, int shape_index)
	Constructor for a robot link. More...
	FCLGeometry (fcl::CollisionGeometryd *collision_geometry, const moveit::core::AttachedBody *ab, int shape_index)
	Constructor for an attached body. More...
	FCLGeometry (fcl::CollisionGeometryd *collision_geometry, const World::Object *obj, int shape_index)
	Constructor for a world object. More...
template<typename T >
void	updateCollisionGeometryData (const T *data, int shape_index, bool newType)
	Updates the collision_geometry_data_ with new data while also setting the collision_geometry_ to the new data. More...

Public Attributes
std::shared_ptr< fcl::CollisionGeometryd >	collision_geometry_
	Pointer to FCL collision geometry. More...
CollisionGeometryDataPtr	collision_geometry_data_
	Pointer to the user-defined geometry data. More...

Detailed Description

Bundles the CollisionGeometryData and FCL collision geometry representation into a single class.

Definition at line 201 of file collision_common.h.

Constructor & Destructor Documentation

FCLGeometry() [1/4]

collision_detection::FCLGeometry::FCLGeometry ( )

inline

Definition at line 203 of file collision_common.h.

FCLGeometry() [2/4]

collision_detection::FCLGeometry::FCLGeometry ( fcl::CollisionGeometryd *  collision_geometry, const moveit::core::LinkModel *  link, int  shape_index  )

inline

Constructor for a robot link.

Definition at line 208 of file collision_common.h.

FCLGeometry() [3/4]

collision_detection::FCLGeometry::FCLGeometry ( fcl::CollisionGeometryd *  collision_geometry, const moveit::core::AttachedBody *  ab, int  shape_index  )

inline

Constructor for an attached body.

Definition at line 216 of file collision_common.h.

FCLGeometry() [4/4]

collision_detection::FCLGeometry::FCLGeometry ( fcl::CollisionGeometryd *  collision_geometry, const World::Object *  obj, int  shape_index  )

inline

Constructor for a world object.

Definition at line 224 of file collision_common.h.

Member Function Documentation

updateCollisionGeometryData()

template<typename T >

void collision_detection::FCLGeometry::updateCollisionGeometryData ( const T *  data, int  shape_index, bool  newType  )

inline

Updates the collision_geometry_data_ with new data while also setting the collision_geometry_ to the new data.

Definition at line 234 of file collision_common.h.

Member Data Documentation

collision_geometry_

std::shared_ptr<fcl::CollisionGeometryd> collision_detection::FCLGeometry::collision_geometry_

Pointer to FCL collision geometry.

Definition at line 244 of file collision_common.h.

collision_geometry_data_

CollisionGeometryDataPtr collision_detection::FCLGeometry::collision_geometry_data_

Pointer to the user-defined geometry data.

Definition at line 247 of file collision_common.h.

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

• moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h