Simox  2.3.49
VirtualRobot::CollisionModelPQP Class Reference
Inheritance diagram for VirtualRobot::CollisionModelPQP:
VirtualRobot::CollisionModelImplementation

Public Member Functions

 CollisionModelPQP (TriMeshModelPtr modelData, CollisionCheckerPtr colChecker, int id)
 
virtual ~CollisionModelPQP ()
 
boost::shared_ptr< PQP::PQP_Model > getPQPModel ()
 
virtual void print ()
 
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
 
TriMeshModelPtr getTriMeshModel ()
 

Protected Member Functions

 CollisionModelPQP (const CollisionModelPQP &orig)
 
virtual void destroyData ()
 delete all data More...
 
void createPQPModel ()
 

Protected Attributes

boost::shared_ptr< PQP::PQP_Model > pqpModel
 
boost::shared_ptr< CollisionCheckerPQPcolCheckerPQP
 
- Protected Attributes inherited from VirtualRobot::CollisionModelImplementation
TriMeshModelPtr modelData
 
int id
 
Eigen::Matrix4f globalPose
 

Friends

class CollisionModel
 

Detailed Description

A PQP related implementation of a collision model.

Constructor & Destructor Documentation

VirtualRobot::CollisionModelPQP::CollisionModelPQP ( TriMeshModelPtr  modelData,
CollisionCheckerPtr  colChecker,
int  id 
)

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

VirtualRobot::CollisionModelPQP::~CollisionModelPQP ( )
virtual

Standard Destructor

VirtualRobot::CollisionModelPQP::CollisionModelPQP ( const CollisionModelPQP orig)
protected

Member Function Documentation

boost::shared_ptr< CollisionModelImplementation > VirtualRobot::CollisionModelPQP::clone ( bool  deepCopy = false) const
virtual
void VirtualRobot::CollisionModelPQP::createPQPModel ( )
protected
void VirtualRobot::CollisionModelPQP::destroyData ( )
protectedvirtual

delete all data

Implements VirtualRobot::CollisionModelImplementation.

boost::shared_ptr<PQP::PQP_Model> VirtualRobot::CollisionModelPQP::getPQPModel ( )
inline
void VirtualRobot::CollisionModelPQP::print ( )
virtual

Friends And Related Function Documentation

friend class CollisionModel
friend

Field Documentation

boost::shared_ptr<CollisionCheckerPQP> VirtualRobot::CollisionModelPQP::colCheckerPQP
protected
boost::shared_ptr<PQP::PQP_Model> VirtualRobot::CollisionModelPQP::pqpModel
protected