collision_detection::PosedBodySphereDecomposition Class Reference

#include <collision_distance_field_types.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PosedBodySphereDecomposition (const BodyDecompositionConstPtr &body_decomposition)
const std::vector< CollisionSphere > &	getCollisionSpheres () const
const EigenSTL::vector_Vector3d &	getSphereCenters () const
const EigenSTL::vector_Vector3d &	getCollisionPoints () const
const std::vector< double > &	getSphereRadii () const
const Eigen::Vector3d &	getBoundingSphereCenter () const
double	getBoundingSphereRadius () const
void	updatePose (const Eigen::Isometry3d &linkTransform)

Protected Attributes
BodyDecompositionConstPtr	body_decomposition_
Eigen::Vector3d	posed_bounding_sphere_center_
EigenSTL::vector_Vector3d	posed_collision_points_
EigenSTL::vector_Vector3d	sphere_centers_

Detailed Description

Definition at line 301 of file collision_distance_field_types.h.

Constructor & Destructor Documentation

PosedBodySphereDecomposition()

collision_detection::PosedBodySphereDecomposition::PosedBodySphereDecomposition

(

const BodyDecompositionConstPtr &

body_decomposition

)

Definition at line 380 of file collision_distance_field_types.cpp.

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Member Function Documentation

getBoundingSphereCenter()

const Eigen::Vector3d& collision_detection::PosedBodySphereDecomposition::getBoundingSphereCenter ( ) const

inline

Definition at line 327 of file collision_distance_field_types.h.

getBoundingSphereRadius()

double collision_detection::PosedBodySphereDecomposition::getBoundingSphereRadius ( ) const

inline

Definition at line 332 of file collision_distance_field_types.h.

getCollisionPoints()

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

inline

Definition at line 318 of file collision_distance_field_types.h.

getCollisionSpheres()

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

inline

Definition at line 308 of file collision_distance_field_types.h.

getSphereCenters()

const EigenSTL::vector_Vector3d& collision_detection::PosedBodySphereDecomposition::getSphereCenters ( ) const

inline

Definition at line 313 of file collision_distance_field_types.h.

getSphereRadii()

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

inline

Definition at line 323 of file collision_distance_field_types.h.

updatePose()

void collision_detection::PosedBodySphereDecomposition::updatePose

(

const Eigen::Isometry3d &

linkTransform

)

Definition at line 388 of file collision_distance_field_types.cpp.

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Member Data Documentation

body_decomposition_

BodyDecompositionConstPtr collision_detection::PosedBodySphereDecomposition::body_decomposition_

protected

Definition at line 342 of file collision_distance_field_types.h.

posed_bounding_sphere_center_

Eigen::Vector3d collision_detection::PosedBodySphereDecomposition::posed_bounding_sphere_center_

protected

Definition at line 343 of file collision_distance_field_types.h.

posed_collision_points_

EigenSTL::vector_Vector3d collision_detection::PosedBodySphereDecomposition::posed_collision_points_

protected

Definition at line 344 of file collision_distance_field_types.h.

sphere_centers_

EigenSTL::vector_Vector3d collision_detection::PosedBodySphereDecomposition::sphere_centers_

protected

Definition at line 345 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