Simox  2.3.74.0
VirtualRobot::CollisionModelImplementation Class Referenceabstract
Inheritance diagram for VirtualRobot::CollisionModelImplementation:
VirtualRobot::CollisionModelDummy VirtualRobot::CollisionModelPQP

Public Member Functions

 CollisionModelImplementation (const TriMeshModelPtr &modelData, const CollisionCheckerPtr &, int id)
 
virtual ~CollisionModelImplementation ()
 
void setGlobalPose (const Eigen::Matrix4f &m)
 
const Eigen::Matrix4f & getGlobalPose () const
 
virtual void print ()
 
const TriMeshModelPtrgetTriMeshModel ()
 
virtual std::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

◆ CollisionModelImplementation()

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

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

◆ ~CollisionModelImplementation()

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

Standard Destructor

Member Function Documentation

◆ clone()

virtual std::shared_ptr<CollisionModelImplementation> VirtualRobot::CollisionModelImplementation::clone ( bool  deepCopy = false) const
pure virtual

◆ destroyData()

virtual void VirtualRobot::CollisionModelImplementation::destroyData ( )
protectedpure virtual

◆ getGlobalPose()

const Eigen::Matrix4f& VirtualRobot::CollisionModelImplementation::getGlobalPose ( ) const
inline

◆ getTriMeshModel()

const TriMeshModelPtr& VirtualRobot::CollisionModelImplementation::getTriMeshModel ( )
inline

◆ print()

virtual void VirtualRobot::CollisionModelImplementation::print ( )
inlinevirtual

◆ setGlobalPose()

void VirtualRobot::CollisionModelImplementation::setGlobalPose ( const Eigen::Matrix4f &  m)
inline

Sets the position of the internal colModel data structure.

Friends And Related Function Documentation

◆ CollisionModel

friend class CollisionModel
friend

Field Documentation

◆ globalPose

Eigen::Matrix4f VirtualRobot::CollisionModelImplementation::globalPose
protected

◆ id

int VirtualRobot::CollisionModelImplementation::id
protected

◆ modelData

TriMeshModelPtr VirtualRobot::CollisionModelImplementation::modelData
protected