VirtualRobot::CollisionModel Class Reference

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionModel (const VisualizationNodePtr &visu, const std::string &name="", CollisionCheckerPtr colChecker=CollisionCheckerPtr(), int id=666, float margin=0.0f)
	CollisionModel (const TriMeshModelPtr &mesh)
	CollisionModel (const TriMeshModel &mesh)
virtual	~CollisionModel ()
std::string	getName ()
BoundingBox	getBoundingBox (bool global=true)
BoundingBox	getLocalBoundingBox ()
BoundingBox	getGlobalBoundingBox ()
Eigen::Matrix4f	getGlobalPose () const
virtual void	setGlobalPose (const Eigen::Matrix4f &pose)
Eigen::Vector3f	transformToGlobal (const Eigen::Vector3f &p) const
Eigen::Vector3f	transformFromGlobal (const Eigen::Vector3f &p) const
CollisionCheckerPtr	getCollisionChecker ()
const std::shared_ptr< CollisionModelPQP > &	getCollisionModelImplementation ()
CollisionModelPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f, bool deepVisuCopy=true)
void	setVisualization (const VisualizationNodePtr visu)
int	getId ()
void	setUpdateVisualization (bool enable)
bool	getUpdateVisualizationStatus ()
VisualizationNodePtr	getVisualization ()
VisualizationNodePtr	getModelDataVisualization ()
template<class T >
std::shared_ptr< T >	getVisualization ()
virtual int	getNumFaces ()
	get number of faces (i.e. triangles) of this object More...
virtual void	print ()
std::vector< Eigen::Vector3f >	getModelVeticesGlobal ()
TriMeshModelPtr	getTriMeshModel ()
std::string	toXML (const std::string &basePath, int tabs)
std::string	toXML (const std::string &basePath, const std::string &filename, int tabs)
virtual bool	saveModel (const std::string &modelPath, const std::string &filename)
virtual void	scale (Eigen::Vector3f &scaleFactor)
float	getMargin () const
void	inflateModel (float margin)
	in/deflates the model. If value is <0 the model is deflated. More...

Static Public Member Functions
static CollisionModelPtr	CreateUnitedCollisionModel (const std::vector< CollisionModelPtr > &colModels)

Protected Member Functions
	CollisionModel (const VisualizationNodePtr &visu, const std::string &name, CollisionCheckerPtr colChecker, int id, InternalCollisionModelPtr collisionModel)
void	destroyData ()
	delete all data More...

Protected Attributes
VisualizationNodePtr	visualization
VisualizationNodePtr	origVisualization
VisualizationNodePtr	modelVisualization
bool	updateVisualization
TriMeshModelPtr	model
float	margin
BoundingBox	bbox
std::string	name
	the name More...
int	id
CollisionCheckerPtr	colChecker
Eigen::Matrix4f	globalPose
std::shared_ptr< CollisionModelPQP >	collisionModelImplementation

Detailed Description

An abstract representation of an object that can be used for collision queries.

Constructor & Destructor Documentation

CollisionModel() [1/4]

VirtualRobot::CollisionModel::CollisionModel	(	const VisualizationNodePtr &	visu,
		const std::string &	name = "",
		CollisionCheckerPtr	colChecker = CollisionCheckerPtr(),
		int	id = 666,
		float	margin = 0.0f
	)

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

Parameters

visu	A visualization that is used for creating an internal triangle based representation of the object.
name	The name of this object.
colChecker	If not specified, the global singleton instance is used. Only useful, when parallel collision checks should be performed.
id	A user id.

CollisionModel() [2/4]

VirtualRobot::CollisionModel::CollisionModel

(

const TriMeshModelPtr &

mesh

)

CollisionModel() [3/4]

VirtualRobot::CollisionModel::CollisionModel

(

const TriMeshModel &

mesh

)

~CollisionModel()

VirtualRobot::CollisionModel::~CollisionModel ( )

virtual

Standard Destructor

CollisionModel() [4/4]

VirtualRobot::CollisionModel::CollisionModel ( const VisualizationNodePtr &  visu, const std::string &  name, CollisionCheckerPtr  colChecker, int  id, InternalCollisionModelPtr  collisionModel  )

protected

Member Function Documentation

clone()

VirtualRobot::CollisionModelPtr VirtualRobot::CollisionModel::clone	(	CollisionCheckerPtr	colChecker = CollisionCheckerPtr(),
		float	scaling = 1.0f,
		bool	deepVisuCopy = true
	)

CreateUnitedCollisionModel()

VirtualRobot::CollisionModelPtr VirtualRobot::CollisionModel::CreateUnitedCollisionModel ( const std::vector< CollisionModelPtr > &  colModels )

static

Create a united collision model. All triangle data is copied to one model which usually improves the collision detection performance.

destroyData()

void VirtualRobot::CollisionModel::destroyData ( )

protected

delete all data

getBoundingBox()

BoundingBox VirtualRobot::CollisionModel::getBoundingBox

(

bool

global = true

)

Return bounding box of this object.

Parameters

global

If set, the boundignBox is transformed to globalCoordinate system. Otherwise the local BBox is returned.

getCollisionChecker()

CollisionCheckerPtr VirtualRobot::CollisionModel::getCollisionChecker ( )

inline

getCollisionModelImplementation()

const std::shared_ptr< CollisionModelPQP >& VirtualRobot::CollisionModel::getCollisionModelImplementation ( )

inline

getGlobalBoundingBox()

BoundingBox VirtualRobot::CollisionModel::getGlobalBoundingBox ( )

inline

getGlobalPose()

Eigen::Matrix4f VirtualRobot::CollisionModel::getGlobalPose ( ) const

inline

The global pose defines the position of the joint in the world. This value is used for visualization.

getId()

int VirtualRobot::CollisionModel::getId

(

)

getLocalBoundingBox()

BoundingBox VirtualRobot::CollisionModel::getLocalBoundingBox ( )

inlinebound

getMargin()

float VirtualRobot::CollisionModel::getMargin

(

)

const

getModelDataVisualization()

VirtualRobot::VisualizationNodePtr VirtualRobot::CollisionModel::getModelDataVisualization

(

)

getModelVeticesGlobal()

std::vector< Eigen::Vector3f > VirtualRobot::CollisionModel::getModelVeticesGlobal

(

)

Return a vector with all vertices of this object at the current global pose.

getName()

std::string VirtualRobot::CollisionModel::getName

(

)

Returns name of this model.

getNumFaces()

int VirtualRobot::CollisionModel::getNumFaces ( )

virtual

get number of faces (i.e. triangles) of this object

getTriMeshModel()

TriMeshModelPtr VirtualRobot::CollisionModel::getTriMeshModel ( )

inline

getUpdateVisualizationStatus()

bool VirtualRobot::CollisionModel::getUpdateVisualizationStatus

(

)

getVisualization() [1/2]

VisualizationNodePtr VirtualRobot::CollisionModel::getVisualization

(

)

getVisualization() [2/2]

template<class T >

std::shared_ptr<T> VirtualRobot::CollisionModel::getVisualization ( )

inline

inflateModel()

void VirtualRobot::CollisionModel::inflateModel

(

float

margin

)

in/deflates the model. If value is <0 the model is deflated.

Parameters

margin

Each vertex of the model is moved about this margin along its normal.

print()

void VirtualRobot::CollisionModel::print ( )

virtual

Print information about this model.

saveModel()

bool VirtualRobot::CollisionModel::saveModel ( const std::string &  modelPath, const std::string &  filename  )

virtual

Saves model file to model path.

Parameters

modelPath	The directory.
filename	The new filename without path.

scale()

void VirtualRobot::CollisionModel::scale ( Eigen::Vector3f &  scaleFactor )

virtual

setGlobalPose()

void VirtualRobot::CollisionModel::setGlobalPose ( const Eigen::Matrix4f &  pose )

virtual

setUpdateVisualization()

void VirtualRobot::CollisionModel::setUpdateVisualization

(

bool

enable

)

Enables/Disables the visualization updates of the collision model. This just handles the visualization, the collision data is not affected.

setVisualization()

void VirtualRobot::CollisionModel::setVisualization

(

const VisualizationNodePtr

visu

)

toXML() [1/2]

std::string VirtualRobot::CollisionModel::toXML	(	const std::string &	basePath,
		int	tabs
	)

toXML() [2/2]

std::string VirtualRobot::CollisionModel::toXML	(	const std::string &	basePath,
		const std::string &	filename,
		int	tabs
	)

transformFromGlobal()

Eigen::Vector3f VirtualRobot::CollisionModel::transformFromGlobal ( const Eigen::Vector3f &  p ) const

inline

transformToGlobal()

Eigen::Vector3f VirtualRobot::CollisionModel::transformToGlobal ( const Eigen::Vector3f &  p ) const

inline

Field Documentation

bbox

BoundingBox VirtualRobot::CollisionModel::bbox

protected

colChecker

CollisionCheckerPtr VirtualRobot::CollisionModel::colChecker

protected

collisionModelImplementation

std::shared_ptr< CollisionModelPQP > VirtualRobot::CollisionModel::collisionModelImplementation

protected

globalPose

Eigen::Matrix4f VirtualRobot::CollisionModel::globalPose

protected

id

int VirtualRobot::CollisionModel::id

protected

margin

float VirtualRobot::CollisionModel::margin

protected

model

TriMeshModelPtr VirtualRobot::CollisionModel::model

protected

modelVisualization

VisualizationNodePtr VirtualRobot::CollisionModel::modelVisualization

protected

name

std::string VirtualRobot::CollisionModel::name

protected

the name

origVisualization

VisualizationNodePtr VirtualRobot::CollisionModel::origVisualization

protected

updateVisualization

bool VirtualRobot::CollisionModel::updateVisualization

protected

visualization

VisualizationNodePtr VirtualRobot::CollisionModel::visualization

protected