collision_detection::CollisionGeometryData Struct Reference

Wrapper around world, link and attached objects' geometry data. More...

#include <collision_common.hpp>

Collaboration diagram for collision_detection::CollisionGeometryData:

Public Member Functions
	CollisionGeometryData (const moveit::core::LinkModel *link, int index)
	Constructor for a robot link collision geometry object.
	CollisionGeometryData (const moveit::core::AttachedBody *ab, int index)
	Constructor for a new collision geometry object which is attached to the robot.
	CollisionGeometryData (const World::Object *obj, int index)
	Constructor for a new world collision geometry.
const std::string &	getID () const
	Returns the name which is saved in the member pointed to in ptr.
std::string	getTypeString () const
	Returns a string of the corresponding type.
bool	sameObject (const CollisionGeometryData &other) const
	Check if two CollisionGeometryData objects point to the same source object.

Public Attributes
BodyType	type
	Indicates the body type of the object.
int	shape_index
	Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object.
union {
const moveit::core::LinkModel *   link
const moveit::core::AttachedBody *   ab
const World::Object *   obj
const void *   raw
}	ptr
	Points to the type of body which contains the geometry.

Detailed Description

Wrapper around world, link and attached objects' geometry data.

Definition at line 63 of file collision_common.hpp.

Constructor & Destructor Documentation

CollisionGeometryData() [1/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const moveit::core::LinkModel * link, int index )

inline

Constructor for a robot link collision geometry object.

Definition at line 66 of file collision_common.hpp.

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CollisionGeometryData() [2/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const moveit::core::AttachedBody * ab, int index )

inline

Constructor for a new collision geometry object which is attached to the robot.

Definition at line 73 of file collision_common.hpp.

CollisionGeometryData() [3/3]

collision_detection::CollisionGeometryData::CollisionGeometryData ( const World::Object * obj, int index )

inline

Constructor for a new world collision geometry.

Definition at line 80 of file collision_common.hpp.

Member Function Documentation

getID()

const std::string & collision_detection::CollisionGeometryData::getID ( ) const

inline

Returns the name which is saved in the member pointed to in ptr.

Definition at line 86 of file collision_common.hpp.

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getTypeString()

std::string collision_detection::CollisionGeometryData::getTypeString ( ) const

inline

Returns a string of the corresponding type.

Definition at line 101 of file collision_common.hpp.

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sameObject()

bool collision_detection::CollisionGeometryData::sameObject ( const CollisionGeometryData & other ) const

inline

Check if two CollisionGeometryData objects point to the same source object.

Definition at line 116 of file collision_common.hpp.

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Member Data Documentation

ab

const moveit::core::AttachedBody* collision_detection::CollisionGeometryData::ab

Definition at line 134 of file collision_common.hpp.

link

const moveit::core::LinkModel* collision_detection::CollisionGeometryData::link

Definition at line 133 of file collision_common.hpp.

obj

const World::Object* collision_detection::CollisionGeometryData::obj

Definition at line 135 of file collision_common.hpp.

[union]

union { ... } collision_detection::CollisionGeometryData::ptr

Points to the type of body which contains the geometry.

raw

const void* collision_detection::CollisionGeometryData::raw

Definition at line 136 of file collision_common.hpp.

shape_index

int collision_detection::CollisionGeometryData::shape_index

Multiple CollisionGeometryData objects construct a collision object. The collision object refers to an array of coordinate transformations at a certain start index. The index of the transformation of a child CollisionGeometryData object is then given by adding the parent collision object index and the shape_index of a geometry data object.

Definition at line 128 of file collision_common.hpp.

type

BodyType collision_detection::CollisionGeometryData::type

Indicates the body type of the object.

Definition at line 122 of file collision_common.hpp.

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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.hpp