sdf::SDF_VERSION_NAMESPACE::Collision Class Reference

A collision element descibes the collision properties associated with a link. More...

#include <Collision.hh>

Public Member Functions
	Collision ()
	Default constructor. More...
sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load. More...
const Geometry *	Geom () const
	Get a pointer to the collisions's geometry. More...
Errors	Load (ElementPtr _sdf)
	Load the collision based on a element pointer. More...
Errors	Load (sdf::ElementPtr _sdf, const ParserConfig &_config)
	Load the collision based on a element pointer. More...
std::string	Name () const
	Get the name of the collision. More...
const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed. More...
const gz::math::Pose3d &	RawPose () const
	Get the pose of the collision object. More...
sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses. More...
void	SetGeom (const Geometry &_geom)
	Set the collision's geometry. More...
void	SetName (const std::string &_name)
	Set the name of the collision. More...
void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed. More...
void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the collision object. More...
void	SetSurface (const sdf::Surface &_surface)
	Set the collision's surface parameters. More...
const sdf::Surface *	Surface () const
	Get a pointer to the collisions's surface parameters. More...
sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this collision. More...

Detailed Description

A collision element descibes the collision properties associated with a link.

This can be different from the visual properties of a link. For example, simple collision models are often used to reduce computation time.

Constructor & Destructor Documentation

Collision()

sdf::SDF_VERSION_NAMESPACE::Collision::Collision

(

)

Default constructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Collision::Element

(

)

const

Get a pointer to the SDF element that was used during load.

Returns

SDF element pointer. The value will be nullptr if Load has not been called.

Geom()

const Geometry* sdf::SDF_VERSION_NAMESPACE::Collision::Geom

(

)

const

Get a pointer to the collisions's geometry.

Returns

The collision's geometry.

Load() [1/2]

Errors sdf::SDF_VERSION_NAMESPACE::Collision::Load

(

ElementPtr

_sdf

)

Load the collision based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]

_sdf

The SDF Element pointer

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Load() [2/2]

Errors sdf::SDF_VERSION_NAMESPACE::Collision::Load	(	sdf::ElementPtr	_sdf,
		const ParserConfig &	_config
	)

Load the collision based on a element pointer.

This is not the usual entry point. Typical usage of the SDF DOM is through the Root object.

Parameters

[in]	_sdf	The SDF Element pointer
[in]	_config	Parser configuration

Returns

Errors, which is a vector of Error objects. Each Error includes an error code and message. An empty vector indicates no error.

Name()

std::string sdf::SDF_VERSION_NAMESPACE::Collision::Name

(

)

const

Get the name of the collision.

The name of the collision must be unique within the scope of a Link.

Returns

Name of the collision.

PoseRelativeTo()

const std::string& sdf::SDF_VERSION_NAMESPACE::Collision::PoseRelativeTo

(

)

const

Get the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Returns

The name of the pose relative-to frame.

RawPose()

const gz::math::Pose3d& sdf::SDF_VERSION_NAMESPACE::Collision::RawPose

(

)

const

Get the pose of the collision object.

This is the pose of the collison as specified in SDF (<collision><pose> ... </pose></collision>).

Returns

The pose of the collision object.

SemanticPose()

sdf::SemanticPose sdf::SDF_VERSION_NAMESPACE::Collision::SemanticPose

(

)

const

Get SemanticPose object of this object to aid in resolving poses.

Returns

SemanticPose object for this link.

SetGeom()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetGeom

(

const Geometry &

_geom

)

Set the collision's geometry.

Parameters

[in]

_geom

The geometry of the collision object

SetName()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetName

(

const std::string &

_name

)

Set the name of the collision.

The name of the collision must be unique within the scope of a Link.

Parameters

[in]

_name

Name of the collision.

SetPoseRelativeTo()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetPoseRelativeTo

(

const std::string &

_frame

)

Set the name of the coordinate frame relative to which this object's pose is expressed.

An empty value indicates that the frame is relative to the parent link.

Parameters

[in]

_frame

The name of the pose relative-to frame.

SetRawPose()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetRawPose

(

const gz::math::Pose3d &

_pose

)

Set the pose of the collision object.

See also

const gz::math::Pose3d &RawPose() const

Parameters

[in]

_pose

The pose of the collision object.

SetSurface()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetSurface

(

const sdf::Surface &

_surface

)

Set the collision's surface parameters.

Parameters

[in]

_surface

The surface parameters of the collision object

Surface()

const sdf::Surface* sdf::SDF_VERSION_NAMESPACE::Collision::Surface

(

)

const

Get a pointer to the collisions's surface parameters.

Returns

The collision's surface parameters.

ToElement()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Collision::ToElement

(

)

const

Create and return an SDF element filled with data from this collision.

Note that parameter passing functionality is not captured with this function.

Returns

SDF element pointer with updated collision values.

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The documentation for this class was generated from the following file:

• Collision.hh