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

#include <Collision.hh>

Public Member Functions
	Collision ()
	Default constructor.

sdf::ElementPtr	AutoInertiaParams () const
	Get the ElementPtr to the <auto_inertia_params> element This element can be used as a parent element to hold user-defined params for the custom moment of inertia calculator.

void	CalculateInertial (sdf::Errors &_errors, gz::math::Inertiald &_inertial, const ParserConfig &_config)
	Calculate and return the MassMatrix for the collision.

void	CalculateInertial (sdf::Errors &_errors, gz::math::Inertiald &_inertial, const ParserConfig &_config, const std::optional< double > &_density, sdf::ElementPtr _autoInertiaParams)
	Calculate and return the MassMatrix for the collision.

double	Density () const
	Get the density of the collision.

sdf::ElementPtr	Element () const
	Get a pointer to the SDF element that was used during load.

const Geometry *	Geom () const
	Get a pointer to the collisions's geometry.

Errors	Load (ElementPtr _sdf)
	Load the collision based on a element pointer.

Errors	Load (sdf::ElementPtr _sdf, const ParserConfig &_config)
	Load the collision based on a element pointer.

std::string	Name () const
	Get the name of the collision.

const std::string &	PoseRelativeTo () const
	Get the name of the coordinate frame relative to which this object's pose is expressed.

const gz::math::Pose3d &	RawPose () const
	Get the pose of the collision object.

sdf::SemanticPose	SemanticPose () const
	Get SemanticPose object of this object to aid in resolving poses.

void	SetAutoInertiaParams (const sdf::ElementPtr _autoInertiaParams)
	Function to set the auto inertia params using a sdf ElementPtr object.

void	SetDensity (double _density)
	Set the density of the collision.

void	SetGeom (const Geometry &_geom)
	Set the collision's geometry.

void	SetName (const std::string &_name)
	Set the name of the collision.

void	SetPoseRelativeTo (const std::string &_frame)
	Set the name of the coordinate frame relative to which this object's pose is expressed.

void	SetRawPose (const gz::math::Pose3d &_pose)
	Set the pose of the collision object.

void	SetSurface (const sdf::Surface &_surface)
	Set the collision's surface parameters.

const sdf::Surface *	Surface () const
	Get a pointer to the collisions's surface parameters.

sdf::ElementPtr	ToElement () const
	Create and return an SDF element filled with data from this collision.

sdf::ElementPtr	ToElement (sdf::Errors &_errors) const
	Create and return an SDF element filled with data from this collision.

Static Public Member Functions
static double	DensityDefault ()
	Get the default density of a collision if its density is not specified.

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

◆ AutoInertiaParams()

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Collision::AutoInertiaParams ( ) const

Get the ElementPtr to the <auto_inertia_params> element This element can be used as a parent element to hold user-defined params for the custom moment of inertia calculator.

Returns: ElementPtr object for the <auto_inertia_params> element.

◆ CalculateInertial() [1/2]

void sdf::SDF_VERSION_NAMESPACE::Collision::CalculateInertial	(	sdf::Errors &	_errors,
		gz::math::Inertiald &	_inertial,
		const ParserConfig &	_config
	)

Calculate and return the MassMatrix for the collision.

Parameters

[out]	_errors	A vector of Errors objects. Each errors contains an Error code and a message. An empty errors vector indicates no errors
[out]	_inertial	An inertial object which will be set with the calculated inertial values
[in]	_config	Custom parser configuration

◆ CalculateInertial() [2/2]

void sdf::SDF_VERSION_NAMESPACE::Collision::CalculateInertial	(	sdf::Errors &	_errors,
		gz::math::Inertiald &	_inertial,
		const ParserConfig &	_config,
		const std::optional< double > &	_density,
		sdf::ElementPtr	_autoInertiaParams
	)

Calculate and return the MassMatrix for the collision.

Parameters

[out]	_errors	A vector of Errors objects. Each errors contains an Error code and a message. An empty errors vector indicates no errors
[out]	_inertial	An inertial object which will be set with the calculated inertial values
[in]	_config	Custom parser configuration
[in]	_density	An optional density value to override the default collision density. This value is used instead of DefaultDensity()
[in]	_autoInertiaParams	An ElementPtr to the auto_inertia_params element to be used if the auto_inertia_params have not been set in this collision.

◆ Density()

double sdf::SDF_VERSION_NAMESPACE::Collision::Density ( ) const

Get the density of the collision.

Returns: Density of the collision.

◆ DensityDefault()

static double sdf::SDF_VERSION_NAMESPACE::Collision::DensityDefault ( )

static

Get the default density of a collision if its density is not specified.

Returns: Default density.

◆ 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.

◆ SetAutoInertiaParams()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetAutoInertiaParams ( const sdf::ElementPtr _autoInertiaParams )

Function to set the auto inertia params using a sdf ElementPtr object.

Parameters

[in] _autoInertiaParams ElementPtr to <auto_inertia_params> element

◆ SetDensity()

void sdf::SDF_VERSION_NAMESPACE::Collision::SetDensity ( double _density )

Set the density of the collision.

Parameters

[in] _density Density of the collision.

◆ 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() [1/2]

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.

◆ ToElement() [2/2]

sdf::ElementPtr sdf::SDF_VERSION_NAMESPACE::Collision::ToElement ( sdf::Errors & _errors ) const

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

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

Parameters

[out] _errors Vector of errors.

Returns: SDF element pointer with updated collision values.

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

Collision.hh

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Collision()

Member Function Documentation

◆ AutoInertiaParams()

◆ CalculateInertial() [1/2]

◆ CalculateInertial() [2/2]

◆ Density()

◆ DensityDefault()

◆ Element()

◆ Geom()

◆ Load() [1/2]

◆ Load() [2/2]

◆ Name()

◆ PoseRelativeTo()

◆ RawPose()

◆ SemanticPose()

◆ SetAutoInertiaParams()

◆ SetDensity()

◆ SetGeom()

◆ SetName()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetSurface()

◆ Surface()

◆ ToElement() [1/2]

◆ ToElement() [2/2]