sdf::v8::Collision Class Reference

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

#include <Collision.hh>

Public Member Functions
	Collision ()
	Default constructor. More...
	Collision (const Collision &_collision)
	Copy constructor. More...
	Collision (Collision &&_collision) noexcept
	Move constructor. More...
	~Collision ()
	Destructor. 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...
std::string	Name () const
	Get the name of the collision. More...
Collision &	operator= (Collision &&_collision)
	Move assignment operator. More...
Collision &	operator= (const Collision &_collision)
	Copy assignment operator. More...
const ignition::math::Pose3d &	Pose () const
	Get the pose of the collision object. More...
const std::string &	PoseFrame () const
	Get the name of the coordinate frame in which this collision object's pose is expressed. More...
void	SetGeom (const Geometry &_geom)
	Set the collision's geometry. More...
void	SetName (const std::string &_name) const
	Set the name of the collision. More...
void	SetPose (const ignition::math::Pose3d &_pose)
	Set the pose of the collision object. More...
void	SetPoseFrame (const std::string &_frame)
	Set the name of the coordinate frame in which this collision object's pose is expressed. More...

Detailed Description

A collision element descibes the collison 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() [1/3]

sdf::v8::Collision::Collision

(

)

Default constructor.

Collision() [2/3]

sdf::v8::Collision::Collision

(

const Collision &

_collision

)

Copy constructor.

Parameters

[in]

_collision

Collision to copy.

Collision() [3/3]

sdf::v8::Collision::Collision ( Collision &&  _collision )

noexcept

Move constructor.

Parameters

[in]

_collision

Collision to move.

~Collision()

sdf::v8::Collision::~Collision

(

)

Destructor.

Member Function Documentation

Element()

sdf::ElementPtr sdf::v8::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::v8::Collision::Geom

(

)

const

Get a pointer to the collisions's geometry.

Returns

The collision's geometry.

Load()

Errors sdf::v8::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.

Name()

std::string sdf::v8::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.

operator=() [1/2]

Collision& sdf::v8::Collision::operator=

(

Collision &&

_collision

)

Move assignment operator.

Parameters

[in]

_collision

Collision to move.

Returns

Reference to this.

operator=() [2/2]

Collision& sdf::v8::Collision::operator=

(

const Collision &

_collision

)

Copy assignment operator.

Parameters

[in]

_collision

Collision to copy.

Returns

Reference to this.

Pose()

const ignition::math::Pose3d& sdf::v8::Collision::Pose

(

)

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.

PoseFrame()

const std::string& sdf::v8::Collision::PoseFrame

(

)

const

Get the name of the coordinate frame in which this collision object's pose is expressed.

A empty value indicates that the frame is the parent link.

Returns

The name of the pose frame.

SetGeom()

void sdf::v8::Collision::SetGeom

(

const Geometry &

_geom

)

Set the collision's geometry.

Parameters

[in]

_geom

The geometry of the collision object

SetName()

void sdf::v8::Collision::SetName

(

const std::string &

_name

)

const

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.

SetPose()

void sdf::v8::Collision::SetPose

(

const ignition::math::Pose3d &

_pose

)

Set the pose of the collision object.

See also

const ignition::math::Pose3d &Pose() const

Parameters

[in]

_pose

The pose of the collision object.

SetPoseFrame()

void sdf::v8::Collision::SetPoseFrame

(

const std::string &

_frame

)

Set the name of the coordinate frame in which this collision object's pose is expressed.

A empty value indicates that the frame is the parent link.

Parameters

[in]

_frame

The name of the pose frame.

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

• Collision.hh