collision_detection::World::Object Struct Reference

A representation of an object. More...

#include <world.h>

Collaboration diagram for collision_detection::World::Object:

Public Member Functions
	Object (const std::string &object_id)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string	id_
	The id for this object.
Eigen::Isometry3d	pose_
	The object's pose. All shapes and subframes are defined relative to this frame. This frame is returned when getTransform() is called with the object's name.
std::vector< shapes::ShapeConstPtr >	shapes_
	All the shapes making up this object.
EigenSTL::vector_Isometry3d	shape_poses_
	The poses of the corresponding entries in shapes_, relative to the object pose.
EigenSTL::vector_Isometry3d	global_shape_poses_
	The poses of the corresponding entries in shapes_, relative to the world frame.
moveit::core::FixedTransformsMap	subframe_poses_
	Transforms from the object pose to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base).
moveit::core::FixedTransformsMap	global_subframe_poses_
	Transforms from the world frame to the object subframes.

Detailed Description

A representation of an object.

Definition at line 78 of file world.h.

Constructor & Destructor Documentation

Object()

collision_detection::World::Object::Object ( const std::string &  object_id )

inline

Definition at line 80 of file world.h.

Member Data Documentation

global_shape_poses_

EigenSTL::vector_Isometry3d collision_detection::World::Object::global_shape_poses_

The poses of the corresponding entries in shapes_, relative to the world frame.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Definition at line 106 of file world.h.

global_subframe_poses_

moveit::core::FixedTransformsMap collision_detection::World::Object::global_subframe_poses_

Transforms from the world frame to the object subframes.

Definition at line 116 of file world.h.

id_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string collision_detection::World::Object::id_

The id for this object.

Definition at line 87 of file world.h.

pose_

Eigen::Isometry3d collision_detection::World::Object::pose_

The object's pose. All shapes and subframes are defined relative to this frame. This frame is returned when getTransform() is called with the object's name.

Definition at line 91 of file world.h.

shape_poses_

EigenSTL::vector_Isometry3d collision_detection::World::Object::shape_poses_

The poses of the corresponding entries in shapes_, relative to the object pose.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Definition at line 101 of file world.h.

shapes_

std::vector<shapes::ShapeConstPtr> collision_detection::World::Object::shapes_

All the shapes making up this object.

The pose of each Shape is stored in the corresponding element of the shape_poses_ array.

Definition at line 96 of file world.h.

subframe_poses_

moveit::core::FixedTransformsMap collision_detection::World::Object::subframe_poses_

Transforms from the object pose to subframes on the object. Use them to define points of interest on an object to plan with (e.g. screwdriver/tip, kettle/spout, mug/base).

Definition at line 112 of file world.h.

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

• moveit_core/collision_detection/include/moveit/collision_detection/world.h