Inheritance diagram for VirtualRobot::Obstacle:

Public Member Functions
	Obstacle (const std::string &name, VisualizationNodePtr visualization={}, CollisionModelPtr collisionModel={}, const SceneObject::Physics &p={}, CollisionCheckerPtr colChecker={})

	Obstacle (const std::string &name, const TriMeshModelPtr &trimesh, const std::string &filename="")

	~Obstacle () override

virtual void	print (bool printDecoration=true)

ObstaclePtr	clone (const std::string &name, CollisionCheckerPtr colChecker={}, float scaling=1.0) const

int	getID ()

virtual std::string	toXML (const std::string &basePath, int tabs=0, const std::string &modelPathRelative="", bool storeSensors=true)

void	setFilename (const std::string &filename)

std::string	getFilename () const

Public Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	GraspableSensorizedObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

bool	initialize (SceneObjectPtr parent=SceneObjectPtr(), const std::vector< SceneObjectPtr > &children=std::vector< SceneObjectPtr >()) override

bool	hasGraspSet (GraspSetPtr graspSet)

bool	hasGraspSet (const std::string &robotType, const std::string &eef)

void	addGraspSet (GraspSetPtr graspSet)

void	includeGraspSet (GraspSetPtr graspSet)
	includeGraspSet More...

GraspSetPtr	getGraspSet (EndEffectorPtr eef)

GraspSetPtr	getGraspSet (const std::string &robotType, const std::string &eefName)

GraspSetPtr	getGraspSet (const std::string &name)

const std::vector< GraspSetPtr > &	getAllGraspSets ()

virtual SensorPtr	getSensor (const std::string &name) const

virtual bool	hasSensor (const std::string &name) const

virtual std::vector< SensorPtr >	getSensors () const

virtual bool	registerSensor (SensorPtr sensor)

void	appendGraspSetsTo (GraspableSensorizedObjectPtr other) const

void	appendSensorsTo (GraspableSensorizedObjectPtr other) const

void	printGrasps () const

Public Member Functions inherited from VirtualRobot::SceneObject
	SceneObject (const std::string &name, VisualizationNodePtr visualization=VisualizationNodePtr(), CollisionModelPtr collisionModel=CollisionModelPtr(), const Physics &p=Physics(), CollisionCheckerPtr colChecker=CollisionCheckerPtr())

virtual	~SceneObject ()

std::string	getName () const

void	setName (const std::string &name)

virtual Eigen::Matrix4f	getGlobalPose () const

virtual Eigen::Vector3f	getGlobalPosition () const

virtual Eigen::Matrix3f	getGlobalOrientation () const

virtual Eigen::Matrix4f	getGlobalPose (const Eigen::Matrix4f &localPose) const

virtual Eigen::Vector3f	getGlobalPosition (const Eigen::Vector3f &localPosition) const

virtual Eigen::Vector3f	getGlobalDirection (const Eigen::Vector3f &localDircetion) const

virtual Eigen::Matrix3f	getGlobalOrientation (const Eigen::Matrix3f &localOrientation) const

virtual void	setGlobalPoseNoChecks (const Eigen::Matrix4f &pose)

virtual void	setGlobalPose (const Eigen::Matrix4f &pose)

virtual CollisionModelPtr	getCollisionModel ()

virtual CollisionCheckerPtr	getCollisionChecker ()

void	setVisualization (VisualizationNodePtr visualization)

void	setCollisionModel (CollisionModelPtr colModel)

virtual VisualizationNodePtr	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

virtual void	setUpdateVisualization (bool enable)

bool	getUpdateVisualizationStatus ()

virtual void	setUpdateCollisionModel (bool enable)

bool	getUpdateCollisionModelStatus ()

virtual void	setupVisualization (bool showVisualization, bool showAttachedVisualizations)

virtual void	showCoordinateSystem (bool enable, float scaling=1.0f, std::string *text=NULL, const std::string &visualizationType="")

virtual void	showPhysicsInformation (bool enableCoM, bool enableInertial, VisualizationNodePtr comModel=VisualizationNodePtr())

virtual bool	showCoordinateSystemState ()

virtual void	showBoundingBox (bool enable, bool wireframe=false)

virtual bool	ensureVisualization (const std::string &visualizationType="")

Eigen::Matrix4f	toLocalCoordinateSystem (const Eigen::Matrix4f &poseGlobal) const

Eigen::Vector3f	toLocalCoordinateSystemVec (const Eigen::Vector3f &positionGlobal) const

Eigen::Matrix4f	toGlobalCoordinateSystem (const Eigen::Matrix4f &poseLocal) const

Eigen::Vector3f	toGlobalCoordinateSystemVec (const Eigen::Vector3f &positionLocal) const

Eigen::Matrix4f	getTransformationTo (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	getTransformationFrom (const SceneObjectPtr otherObject) const

Eigen::Matrix4f	transformTo (const SceneObjectPtr otherObject, const Eigen::Matrix4f &poseInOtherCoordSystem)

Eigen::Vector3f	transformTo (const SceneObjectPtr otherObject, const Eigen::Vector3f &positionInOtherCoordSystem)

virtual int	getNumFaces (bool collisionModel=false)

virtual Eigen::Vector3f	getCoMLocal ()

void	setCoMLocal (const Eigen::Vector3f &comLocal)
	Set a new position for the CoM of this bode. More...

virtual Eigen::Vector3f	getCoMGlobal ()

float	getMass () const

void	setMass (float m)

Physics::SimulationType	getSimulationType () const

void	setSimulationType (Physics::SimulationType s)

Eigen::Matrix3f	getInertiaMatrix ()

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift)
	If the Inertia Matrix is given at the CoM, this function returns the Inertia Matrix at the parallel shifted coordinate system. The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Vector3f &shift, const Eigen::Matrix3f &rotation)

Eigen::Matrix3f	getInertiaMatrix (const Eigen::Matrix4f &transform)

void	setInertiaMatrix (const Eigen::Matrix3f &im)

float	getFriction ()

void	setFriction (float friction)

SceneObject::Physics	getPhysics ()

std::vector< std::string >	getIgnoredCollisionModels ()

virtual void	print (bool printChildren=false, bool printDecoration=true) const

template<typename T >
std::shared_ptr< T >	getVisualization (SceneObject::VisualizationType visuType=SceneObject::Full)

void	highlight (VisualizationPtr visualization, bool enable)

SceneObjectPtr	clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

SceneObjectPtr	clone (CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual bool	attachChild (SceneObjectPtr child)

virtual void	detachChild (SceneObjectPtr child)

virtual bool	hasChild (SceneObjectPtr child, bool recursive=false) const

virtual bool	hasChild (const std::string &childName, bool recursive=false) const

virtual bool	hasParent () const

virtual SceneObjectPtr	getParent () const

virtual std::vector< SceneObjectPtr >	getChildren () const

virtual void	updatePose (bool updateChildren=true)
	Compute the global pose of this object. More...

virtual void	copyPoseFrom (const SceneObjectPtr &other)

virtual bool	saveModelFiles (const std::string &modelPath, bool replaceFilenames)

void	setScaling (float scaling)

float	getScaling ()

bool	reloadVisualizationFromXML (bool useVisAsColModelIfMissing=true)

const std::string &	getVisualizationModelXML () const

Static Public Member Functions
static ObstaclePtr	createBox (float width, float height, float depth, VisualizationFactory::Color color=VisualizationFactory::Color::Red(), std::string visualizationType="", CollisionCheckerPtr colChecker={})

static ObstaclePtr	createSphere (float radius, VisualizationFactory::Color color=VisualizationFactory::Color::Red(), std::string visualizationType="", CollisionCheckerPtr colChecker={})

static ObstaclePtr	createCylinder (float radius, float height, VisualizationFactory::Color color=VisualizationFactory::Color::Red(), std::string visualizationType="", CollisionCheckerPtr colChecker={})

static ObstaclePtr	createFromMesh (TriMeshModelPtr mesh, std::string visualizationType="", CollisionCheckerPtr colChecker={})

Static Public Member Functions inherited from VirtualRobot::SceneObject
static Eigen::Matrix3f	shiftInertia (const Eigen::Matrix3f inertiaMatrix, const Eigen::Vector3f &shift, float mass)
	The shift is done using the parallel axis theorem (https://en.wikipedia.org/wiki/Parallel_axis_theorem) More...

Protected Attributes
std::string	filename

int	id

Protected Attributes inherited from VirtualRobot::GraspableSensorizedObject
std::vector< GraspSetPtr >	graspSets

std::vector< SensorPtr >	sensors

Protected Attributes inherited from VirtualRobot::SceneObject
std::string	name

bool	initialized

Eigen::Matrix4f	globalPose

std::vector< SceneObjectPtr >	children

SceneObjectWeakPtr	parent

CollisionModelPtr	collisionModel

std::string	collisionModelXML

VisualizationNodePtr	visualizationModel

std::string	visualizationModelXML

std::filesystem::path	basePath

bool	updateVisualization

bool	updateCollisionModel

Physics	physics

CollisionCheckerPtr	collisionChecker

float	scaling = 1.0f

Static Protected Attributes
static int	idCounter = 20000

Additional Inherited Members
Public Types inherited from VirtualRobot::SceneObject
enum	VisualizationType { Full, Collision, CollisionData }

Protected Member Functions inherited from VirtualRobot::GraspableSensorizedObject
	GraspableSensorizedObject ()

std::string	getGraspableSensorizedObjectXML (const std::string &modelPathRelative="models", bool storeSensors=true, int tabs=0)

Protected Member Functions inherited from VirtualRobot::SceneObject
virtual SceneObject *	_clone (const std::string &name, CollisionCheckerPtr colChecker=CollisionCheckerPtr(), float scaling=1.0f) const

virtual void	detachedFromParent ()
	Parent detached this object. More...

virtual void	attached (SceneObjectPtr parent)
	Parent attached this object. More...

virtual void	updatePose (const Eigen::Matrix4f &parentPose, bool updateChildren=true)

std::string	getFilenameReplacementVisuModel (const std::string standardExtension=".wrl")

std::string	getFilenameReplacementColModel (const std::string standardExtension=".wrl")

	SceneObject ()

std::string	getSceneObjectXMLString (const std::string &basePath, int tabs, const std::string &modelPathRelative="")
	basic data, used by Obstacle and ManipulationObject More...

virtual bool	initializePhysics ()

Detailed Description

An obstacle is an object that owns a visualization and a collision model. It can be moved around and used for collision detection.

Constructor & Destructor Documentation

◆ Obstacle() [1/2]

VirtualRobot::Obstacle::Obstacle	(	const std::string &	name,
		VisualizationNodePtr	visualization = `{}`,
		CollisionModelPtr	collisionModel = `{}`,
		const SceneObject::Physics &	p = `{}`,
		CollisionCheckerPtr	colChecker = `{}`
	)

◆ Obstacle() [2/2]

VirtualRobot::Obstacle::Obstacle	(	const std::string &	name,
		const TriMeshModelPtr &	trimesh,
		const std::string &	filename = `""`
	)

◆ ~Obstacle()

VirtualRobot::Obstacle::~Obstacle ( )

overridedefault

Member Function Documentation

◆ clone()

ObstaclePtr VirtualRobot::Obstacle::clone	(	const std::string &	name,
		CollisionCheckerPtr	colChecker = `{}`,
		float	scaling = `1.0`
	)		const

Clones this object. If no col checker is given, the one of the original object is used.

◆ createBox()

VirtualRobot::ObstaclePtr VirtualRobot::Obstacle::createBox	(	float	width,
		float	height,
		float	depth,
		VisualizationFactory::Color	color = `VisualizationFactory::Color::Red()`,
		std::string	visualizationType = `""`,
		CollisionCheckerPtr	colChecker = `{}`
	)

static

Create a standard obstacle.

Parameters

width	The width of the box.
height	The height of the box.
depth	The depth of the box.
color	Specify the color.
visualizationType	Here the type of visualization can be specified (e.g. "Inventor"). If empty, the first registered visualization type (which is usually the only one) is used.
colChecker	Only needed if you plan to use the collision checker in parallel. If not given, the object is registered with the global singleton collision checker.

◆ createCylinder()

VirtualRobot::ObstaclePtr VirtualRobot::Obstacle::createCylinder	(	float	radius,
		float	height,
		VisualizationFactory::Color	color = `VisualizationFactory::Color::Red()`,
		std::string	visualizationType = `""`,
		CollisionCheckerPtr	colChecker = `{}`
	)

static

Create a standard obstacle.

Parameters

radius	The radius of the cylinder.
height	The height of the cylinder.
color	Specify the color.
visualizationType	Here the type of visualization can be specified (e.g. "Inventor"). If empty, the first registered visualization type (which is usually the only one) is used.
colChecker	Only needed if you plan to use the collision checker in parallel. If not given, the object is registered with the global singleton collision checker.

◆ createFromMesh()

VirtualRobot::ObstaclePtr VirtualRobot::Obstacle::createFromMesh	(	TriMeshModelPtr	mesh,
		std::string	visualizationType = `""`,
		CollisionCheckerPtr	colChecker = `{}`
	)

static

Create a standard obstacle from a mesh.

Parameters

mesh	The mesh.
visualizationType	Here the type of visualization can be specified (e.g. "Inventor"). If empty, the first registered visualization type (which is usually the only one) is used.
colChecker	Only needed if you plan to use the collision checker in parallel. If not given, the object is registered with the global singleton collision checker.

◆ createSphere()

VirtualRobot::ObstaclePtr VirtualRobot::Obstacle::createSphere	(	float	radius,
		VisualizationFactory::Color	color = `VisualizationFactory::Color::Red()`,
		std::string	visualizationType = `""`,
		CollisionCheckerPtr	colChecker = `{}`
	)

static

Create a standard obstacle.

Parameters

radius	The radius of the sphere.
color	Specify the color.
visualizationType	Here the type of visualization can be specified (e.g. "Inventor"). If empty, the first registered visualization type (which is usually the only one) is used.
colChecker	Only needed if you plan to use the collision checker in parallel. If not given, the object is registered with the global singleton collision checker.

◆ getFilename()

std::string VirtualRobot::Obstacle::getFilename ( ) const

◆ getID()

int VirtualRobot::Obstacle::getID ( )

◆ print()

void VirtualRobot::Obstacle::print ( bool printDecoration = true )

virtual

Reimplemented in VirtualRobot::ManipulationObject.

◆ setFilename()

void VirtualRobot::Obstacle::setFilename ( const std::string & filename )

◆ toXML()

std::string VirtualRobot::Obstacle::toXML	(	const std::string &	basePath,
		int	tabs = `0`,
		const std::string &	modelPathRelative = `""`,
		bool	storeSensors = `true`
	)

virtual

Field Documentation

◆ filename

std::string VirtualRobot::Obstacle::filename

protected

◆ id

int VirtualRobot::Obstacle::id

protected

◆ idCounter

int VirtualRobot::Obstacle::idCounter = 20000

staticprotected

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Obstacle() [1/2]

◆ Obstacle() [2/2]

◆ ~Obstacle()

Member Function Documentation

◆ clone()

◆ createBox()

◆ createCylinder()

◆ createFromMesh()

◆ createSphere()

◆ getFilename()

◆ getID()

◆ print()

◆ setFilename()

◆ toXML()

Field Documentation

◆ filename

◆ id

◆ idCounter