VirtualRobot::SceneObjectSet Class Reference

Inheritance diagram for VirtualRobot::SceneObjectSet:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SceneObjectSet (const std::string &name="", CollisionCheckerPtr colChecker=CollisionCheckerPtr())
virtual	~SceneObjectSet ()
std::string	getName () const
virtual bool	addSceneObject (SceneObjectPtr sceneObject)
	store axis aligned bounding box covering all CollisionModels to store_aabb More...
virtual bool	addSceneObjects (SceneObjectSetPtr sceneObjectSet)
	append a set of collision models More...
virtual bool	addSceneObjects (RobotNodeSetPtr robotNodeSet)
virtual bool	addSceneObjects (std::vector< RobotNodePtr > robotNodes)
virtual void	addSceneObjects (std::vector< SceneObjectPtr > sceneObjects)
virtual void	addSceneObjects (std::vector< ManipulationObjectPtr > sceneObjects)
virtual bool	removeSceneObject (SceneObjectPtr sceneObject)
	remove a single col model from this Set More...
CollisionCheckerPtr	getCollisionChecker ()
std::vector< CollisionModelPtr >	getCollisionModels ()
std::vector< SceneObjectPtr >	getSceneObjects ()
virtual unsigned int	getSize () const
virtual SceneObjectPtr	getSceneObject (unsigned int nr)
virtual bool	hasSceneObject (SceneObjectPtr sceneObject)
	Returns true, if sceneObject is part of this set. More...
virtual bool	getCurrentSceneObjectConfig (std::map< SceneObjectPtr, Eigen::Matrix4f > &storeConfig)
	fills the current globalPose of all associated sceneobjects to map. More...
virtual std::string	toXML (int tabs)
SceneObjectSetPtr	clone (const std::string &newName="")
SceneObjectSetPtr	clone (const std::string &newName, CollisionCheckerPtr newColChecker)
ObstaclePtr	createStaticObstacle (const std::string &name)

Protected Member Functions
void	destroyData ()
	delete all data More...

Protected Attributes
std::string	name
std::vector< SceneObjectPtr >	sceneObjects
CollisionCheckerPtr	colChecker

Constructor & Destructor Documentation

SceneObjectSet()

VirtualRobot::SceneObjectSet::SceneObjectSet	(	const std::string &	name = "",
		CollisionCheckerPtr	colChecker = CollisionCheckerPtr()
	)

Standard Constructor.

Parameters

name	A name string.
colChecker	Can be used to link this object to different instances of the collision checker. If NULL, the global collision checker singleton is used.

~SceneObjectSet()

VirtualRobot::SceneObjectSet::~SceneObjectSet ( )

virtual

Standard Destructor.

Member Function Documentation

addSceneObject()

bool VirtualRobot::SceneObjectSet::addSceneObject ( SceneObjectPtr  sceneObject )

virtual

store axis aligned bounding box covering all CollisionModels to store_aabb

store axis aligned bounding boxes to store_aabbs store object oriented bounding boxes of contained models to store_oobbs along with iv model append a single object

Reimplemented in VirtualRobot::RobotNodeSet.

addSceneObjects() [1/5]

bool VirtualRobot::SceneObjectSet::addSceneObjects ( SceneObjectSetPtr  sceneObjectSet )

virtual

append a set of collision models

Reimplemented in VirtualRobot::RobotNodeSet.

addSceneObjects() [2/5]

bool VirtualRobot::SceneObjectSet::addSceneObjects ( RobotNodeSetPtr  robotNodeSet )

virtual

Append all associated object of the given robotNodeSet.

Reimplemented in VirtualRobot::RobotNodeSet.

addSceneObjects() [3/5]

bool VirtualRobot::SceneObjectSet::addSceneObjects ( std::vector< RobotNodePtr >  robotNodes )

virtual

Reimplemented in VirtualRobot::RobotNodeSet.

addSceneObjects() [4/5]

void VirtualRobot::SceneObjectSet::addSceneObjects ( std::vector< SceneObjectPtr >  sceneObjects )

virtual

addSceneObjects() [5/5]

void VirtualRobot::SceneObjectSet::addSceneObjects ( std::vector< ManipulationObjectPtr >  sceneObjects )

virtual

clone() [1/2]

VirtualRobot::SceneObjectSetPtr VirtualRobot::SceneObjectSet::clone

(

const std::string &

newName = ""

)

Create a (shallow) copy of this set. The containing sceneobjects are not cloned, but referenced by the newly generated set.

Parameters

newName

The name of the newly created set.

clone() [2/2]

VirtualRobot::SceneObjectSetPtr VirtualRobot::SceneObjectSet::clone	(	const std::string &	newName,
		CollisionCheckerPtr	newColChecker
	)

Create a deep copy of this set, which means that all sceneobjects are cloned.

Parameters

newName	The name of the newly created set.
newColChecker	A new collision checker instance.

createStaticObstacle()

VirtualRobot::ObstaclePtr VirtualRobot::SceneObjectSet::createStaticObstacle

(

const std::string &

name

)

This method creates a new obstacle from all added SceneObjects. Note, that the resulting object is a rigid body that can be placed in the scene but the internal structure is fixed. This object can be useful when the SceneObjectSet consists of a large number of objects that do not change their relation to each other. When building a static obstacle collision detection can be performed much more efficient.

destroyData()

void VirtualRobot::SceneObjectSet::destroyData ( )

protected

delete all data

getCollisionChecker()

CollisionCheckerPtr VirtualRobot::SceneObjectSet::getCollisionChecker ( )

inline

getCollisionModels()

std::vector< CollisionModelPtr > VirtualRobot::SceneObjectSet::getCollisionModels

(

)

Returns all covered collision models.

getCurrentSceneObjectConfig()

bool VirtualRobot::SceneObjectSet::getCurrentSceneObjectConfig ( std::map< SceneObjectPtr, Eigen::Matrix4f > &  storeConfig )

virtual

fills the current globalPose of all associated sceneobjects to map.

getName()

std::string VirtualRobot::SceneObjectSet::getName

(

)

const

Returns name of this model

getSceneObject()

VirtualRobot::SceneObjectPtr VirtualRobot::SceneObjectSet::getSceneObject ( unsigned int  nr )

virtual

getSceneObjects()

std::vector< SceneObjectPtr > VirtualRobot::SceneObjectSet::getSceneObjects

(

)

getSize()

unsigned int VirtualRobot::SceneObjectSet::getSize ( ) const

virtual

Reimplemented in VirtualRobot::RobotNodeSet.

hasSceneObject()

bool VirtualRobot::SceneObjectSet::hasSceneObject ( SceneObjectPtr  sceneObject )

virtual

Returns true, if sceneObject is part of this set.

removeSceneObject()

bool VirtualRobot::SceneObjectSet::removeSceneObject ( SceneObjectPtr  sceneObject )

virtual

remove a single col model from this Set

Reimplemented in VirtualRobot::RobotNodeSet.

toXML()

std::string VirtualRobot::SceneObjectSet::toXML ( int  tabs )

virtual

Reimplemented in VirtualRobot::RobotNodeSet.

Field Documentation

colChecker

CollisionCheckerPtr VirtualRobot::SceneObjectSet::colChecker

protected

name

std::string VirtualRobot::SceneObjectSet::name

protected

sceneObjects

std::vector< SceneObjectPtr > VirtualRobot::SceneObjectSet::sceneObjects

protected