Simox  2.3.62
VirtualRobot::CollisionModelDummy Class Reference
Inheritance diagram for VirtualRobot::CollisionModelDummy:

Public Member Functions

 CollisionModelDummy (CollisionCheckerPtr pColChecker)
virtual ~CollisionModelDummy ()
void setGlobalPose (const Eigen::Matrix4f &m)
virtual boost::shared_ptr< CollisionModelImplementationclone (bool deepCopy=false) const
- Public Member Functions inherited from VirtualRobot::CollisionModelImplementation
 CollisionModelImplementation (TriMeshModelPtr modelData, CollisionCheckerPtr, int id)
virtual ~CollisionModelImplementation ()
void setGlobalPose (const Eigen::Matrix4f &m)
const Eigen::Matrix4f & getGlobalPose () const
virtual void print ()
TriMeshModelPtr getTriMeshModel ()

Protected Member Functions

virtual void destroyData ()
 delete all data More...


class CollisionModel

Additional Inherited Members

- Protected Attributes inherited from VirtualRobot::CollisionModelImplementation
TriMeshModelPtr modelData
int id
Eigen::Matrix4f globalPose

Constructor & Destructor Documentation

VirtualRobot::CollisionModelDummy::CollisionModelDummy ( CollisionCheckerPtr  pColChecker)

Standard Constructor If collision checks should be done in parallel, different CollisionCheckers can be specified.

VirtualRobot::CollisionModelDummy::~CollisionModelDummy ( )

Standard Destructor

Member Function Documentation

virtual boost::shared_ptr<CollisionModelImplementation> VirtualRobot::CollisionModelDummy::clone ( bool  deepCopy = false) const

Builds a (single) collision model, but assigns triangles of IVModels with the given IDs This can be useful to link a collision with a part of a scene Returns number of triangles used for building the collision model

Implements VirtualRobot::CollisionModelImplementation.

void VirtualRobot::CollisionModelDummy::destroyData ( )

delete all data

Implements VirtualRobot::CollisionModelImplementation.

void VirtualRobot::CollisionModelDummy::setGlobalPose ( const Eigen::Matrix4f &  m)

Stores ivModel in this collision model (and creates internal representation) use this method to create a collision model from an inventor node the inventor object is not moved around with the SetGlobalPose method! (use CManipulationObject for more convenient positioning of IV and collision models) Returns number of triangles used for building the collision model

Sets the position of the internal colModel data structure. No update of the pose of the IV model!

Friends And Related Function Documentation

friend class CollisionModel