Simox  2.3.49
VirtualRobot::CollisionModelImplementation Class Referenceabstract
Inheritance diagram for VirtualRobot::CollisionModelImplementation:
VirtualRobot::CollisionModelDummy VirtualRobot::CollisionModelPQP

Public Member Functions

 CollisionModelImplementation (TriMeshModelPtr modelData, CollisionCheckerPtr, int id)
 
virtual ~CollisionModelImplementation ()
 
void setGlobalPose (const Eigen::Matrix4f &m)
 
const Eigen::Matrix4f & getGlobalPose () const
 
virtual void print ()
 
TriMeshModelPtr getTriMeshModel ()
 
virtual boost::shared_ptr< CollisionModelImplementationclone (bool deepCopy=false) const =0
 

Protected Member Functions

virtual void destroyData ()=0
 delete all data More...
 

Protected Attributes

TriMeshModelPtr modelData
 
int id
 
Eigen::Matrix4f globalPose
 

Friends

class CollisionModel
 

Constructor & Destructor Documentation

VirtualRobot::CollisionModelImplementation::CollisionModelImplementation ( TriMeshModelPtr  modelData,
CollisionCheckerPtr  ,
int  id 
)
inline

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

virtual VirtualRobot::CollisionModelImplementation::~CollisionModelImplementation ( )
inlinevirtual

Standard Destructor

Member Function Documentation

virtual boost::shared_ptr<CollisionModelImplementation> VirtualRobot::CollisionModelImplementation::clone ( bool  deepCopy = false) const
pure virtual
virtual void VirtualRobot::CollisionModelImplementation::destroyData ( )
protectedpure virtual
const Eigen::Matrix4f& VirtualRobot::CollisionModelImplementation::getGlobalPose ( ) const
inline
TriMeshModelPtr VirtualRobot::CollisionModelImplementation::getTriMeshModel ( )
inline
virtual void VirtualRobot::CollisionModelImplementation::print ( )
inlinevirtual
void VirtualRobot::CollisionModelImplementation::setGlobalPose ( const Eigen::Matrix4f &  m)
inline

Sets the position of the internal colModel data structure.

Friends And Related Function Documentation

friend class CollisionModel
friend

Field Documentation

Eigen::Matrix4f VirtualRobot::CollisionModelImplementation::globalPose
protected
int VirtualRobot::CollisionModelImplementation::id
protected
TriMeshModelPtr VirtualRobot::CollisionModelImplementation::modelData
protected