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typedef boost::shared_ptr< fcl::CollisionGeometry > | CollisionGeometryPtr |
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| GeometryObject (const std::string &name, const FrameIndex parent_frame, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d::Zero(), const std::string &meshTexturePath="") |
| Full constructor. More...
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| GeometryObject (const std::string &name, const JointIndex parent_joint, const CollisionGeometryPtr &collision_geometry, const SE3 &placement, const std::string &meshPath="", const Eigen::Vector3d &meshScale=Eigen::Vector3d::Ones(), const bool overrideMaterial=false, const Eigen::Vector4d &meshColor=Eigen::Vector4d::Zero(), const std::string &meshTexturePath="") |
| Reduced constructor. More...
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| GeometryObject (const GeometryObject &other) |
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GeometryObject & | operator= (const GeometryObject &other) |
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PINOCCHIO_DEPRECATED CollisionGeometryPtr & | fcl |
| The former pointer to the FCL CollisionGeometry. More...
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CollisionGeometryPtr | geometry |
| The FCL CollisionGeometry (might be a Mesh, a Geometry Primitive, etc.)
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Eigen::Vector4d | meshColor |
| RGBA color value of the GeometryObject::fcl object.
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std::string | meshPath |
| Absolute path to the mesh file (if the fcl pointee is also a Mesh)
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Eigen::Vector3d | meshScale |
| Scaling vector applied to the GeometryObject::fcl object.
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std::string | meshTexturePath |
| Absolute path to the mesh texture file.
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std::string | name |
| Name of the geometry object.
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bool | overrideMaterial |
| Decide whether to override the Material.
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FrameIndex | parentFrame |
| Index of the parent frame. More...
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JointIndex | parentJoint |
| Index of the parent joint.
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SE3 | placement |
| Position of geometry object in parent joint frame.
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std::ostream & | operator<< (std::ostream &os, const GeometryObject &geomObject) |
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Definition at line 83 of file fcl.hpp.
◆ GeometryObject() [1/2]
GeometryObject |
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const std::string & |
name, |
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const FrameIndex |
parent_frame, |
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const JointIndex |
parent_joint, |
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const CollisionGeometryPtr & |
collision_geometry, |
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const SE3 & |
placement, |
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const std::string & |
meshPath = "" , |
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const Eigen::Vector3d & |
meshScale = Eigen::Vector3d::Ones() , |
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const bool |
overrideMaterial = false , |
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const Eigen::Vector4d & |
meshColor = Eigen::Vector4d::Zero() , |
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const std::string & |
meshTexturePath = "" |
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Full constructor.
- Parameters
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[in] | name | Name of the geometry object. |
[in] | parent_frame | Index of the parent frame. |
[in] | parent_joint | Index of the parent joint (that supports the geometry). |
[in] | collision_geometry | The FCL collision geometry object. |
[in] | placement | Placement of the geometry with respect to the joint frame. |
[in] | meshPath | Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable]. |
[in] | meshScale | Scale of the mesh [if applicable]. |
[in] | overrideMaterial | If true, this option allows to overrite the material [if applicable]. |
[in] | meshColor | Color of the mesh [if applicable]. |
[in] | meshTexturePath | Path to the file containing the texture information [if applicable]. |
Definition at line 141 of file fcl.hpp.
◆ GeometryObject() [2/2]
GeometryObject |
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const std::string & |
name, |
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const JointIndex |
parent_joint, |
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const CollisionGeometryPtr & |
collision_geometry, |
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const SE3 & |
placement, |
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const std::string & |
meshPath = "" , |
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const Eigen::Vector3d & |
meshScale = Eigen::Vector3d::Ones() , |
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const bool |
overrideMaterial = false , |
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const Eigen::Vector4d & |
meshColor = Eigen::Vector4d::Zero() , |
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const std::string & |
meshTexturePath = "" |
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inline |
Reduced constructor.
- Parameters
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[in] | name | Name of the geometry object. |
[in] | parent_joint | Index of the parent joint (that supports the geometry). |
[in] | collision_geometry | The FCL collision geometry object. |
[in] | placement | Placement of the geometry with respect to the joint frame. |
[in] | meshPath | Path of the mesh (may be needed extarnally to load the mesh inside a viewer for instance) [if applicable]. |
[in] | meshScale | Scale of the mesh [if applicable]. |
[in] | overrideMaterial | If true, this option allows to overrite the material [if applicable]. |
[in] | meshColor | Color of the mesh [if applicable]. |
[in] | meshTexturePath | Path to the file containing the texture information [if applicable]. |
Definition at line 178 of file fcl.hpp.
References GeometryObject::geometry, GeometryObject::meshColor, GeometryObject::meshPath, GeometryObject::meshScale, GeometryObject::meshTexturePath, GeometryObject::name, GeometryObject::overrideMaterial, GeometryObject::parentFrame, GeometryObject::parentJoint, and GeometryObject::placement.
◆ fcl
PINOCCHIO_DEPRECATED CollisionGeometryPtr& fcl |
◆ parentFrame
Index of the parent frame.
Parent frame may be unset (to the std::numeric_limits<FrameIndex>::max() value) as it is mostly used as a documentation of the tree, or in third-party libraries. The URDF parser of Pinocchio is setting it to the proper value according to the urdf link-joint tree. In particular, anchor joints of URDF would cause parent frame to be different to joint frame.
Definition at line 97 of file fcl.hpp.
Referenced by GeometryObject::GeometryObject().
The documentation for this struct was generated from the following file: