tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper Class Reference

This is a tesseract bullet collsion object. More...

#include <bullet_utils.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper:

Collaboration diagram for tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper:

Public Types
using	Ptr = std::shared_ptr< CollisionObjectWrapper >
using	ConstPtr = std::shared_ptr< const CollisionObjectWrapper >

Public Member Functions
	CollisionObjectWrapper ()=default
	CollisionObjectWrapper (std::string name, const int &type_id, CollisionShapesConst shapes, tesseract_common::VectorIsometry3d shape_poses)
const std::string &	getName () const
	Get the collision object name. More...
const int &	getTypeID () const
	Get a user defined type. More...
bool	sameObject (const CollisionObjectWrapper &other) const
	Check if two CollisionObjectWrapper objects point to the same source object. More...
const CollisionShapesConst &	getCollisionGeometries () const
const tesseract_common::VectorIsometry3d &	getCollisionGeometriesTransforms () const
void	getAABB (btVector3 &aabb_min, btVector3 &aabb_max) const
	Get the collision objects axis aligned bounding box. More...
std::shared_ptr< CollisionObjectWrapper >	clone ()
	This clones the collision objects but not the collision shape wich is const. More...
void	manage (const std::shared_ptr< btCollisionShape > &t)
void	manageReserve (std::size_t s)

Public Attributes
short int	m_collisionFilterGroup { btBroadphaseProxy::KinematicFilter }
short int	m_collisionFilterMask { btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter }
bool	m_enabled { true }

Protected Attributes
std::string	m_name
	The name of the collision object. More...
int	m_type_id { -1 }
	A user defined type id. More...
CollisionShapesConst	m_shapes {}
	The shapes poses information. More...
tesseract_common::VectorIsometry3d	m_shape_poses {}
std::vector< std::shared_ptr< btCollisionShape > >	m_data {}
	This manages the collision shape pointer so they get destroyed. More...

Detailed Description

This is a tesseract bullet collsion object.

It is a wrapper around bullet's collision object which contains specific information related to tesseract

Member Typedef Documentation

ConstPtr

using tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::ConstPtr = std::shared_ptr<const CollisionObjectWrapper>

Ptr

using tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::Ptr = std::shared_ptr<CollisionObjectWrapper>

Constructor & Destructor Documentation

CollisionObjectWrapper() [1/2]

tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::CollisionObjectWrapper ( )

default

CollisionObjectWrapper() [2/2]

tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	std::string	name,
		const int &	type_id,
		CollisionShapesConst	shapes,
		tesseract_common::VectorIsometry3d	shape_poses
	)

Member Function Documentation

clone()

std::shared_ptr< CollisionObjectWrapper > tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::clone

(

)

This clones the collision objects but not the collision shape wich is const.

Returns

Shared Pointer to the cloned collision object

getAABB()

void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getAABB	(	btVector3 &	aabb_min,
		btVector3 &	aabb_max
	)		const

Get the collision objects axis aligned bounding box.

Parameters

aabb_min	The minimum point
aabb_max	The maximum point

getCollisionGeometries()

const CollisionShapesConst & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getCollisionGeometries

(

)

const

getCollisionGeometriesTransforms()

const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getCollisionGeometriesTransforms

(

)

const

getName()

const std::string & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getName

(

)

const

Get the collision object name.

getTypeID()

const int & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getTypeID

(

)

const

Get a user defined type.

manage()

void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::manage

(

const std::shared_ptr< btCollisionShape > &

t

)

manageReserve()

void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::manageReserve

(

std::size_t

s

)

sameObject()

bool tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::sameObject

(

const CollisionObjectWrapper &

other

)

const

Check if two CollisionObjectWrapper objects point to the same source object.

Member Data Documentation

m_collisionFilterGroup

short int tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_collisionFilterGroup { btBroadphaseProxy::KinematicFilter }

m_collisionFilterMask

short int tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_collisionFilterMask { btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter }

m_data

std::vector<std::shared_ptr<btCollisionShape> > tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_data {}

protected

This manages the collision shape pointer so they get destroyed.

m_enabled

bool tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_enabled { true }

m_name

std::string tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_name

protected

The name of the collision object.

m_shape_poses

tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_shape_poses {}

protected

m_shapes

CollisionShapesConst tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_shapes {}

protected

The shapes poses information.

m_type_id

int tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_type_id { -1 }

protected

A user defined type id.

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

• tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_utils.h
• tesseract_collision/bullet/src/bullet_utils.cpp