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

#include <Collision.hh>

Public Member Functions
	Collision ()
	Default constructor. More...

	Collision (Collision &&_collision) noexcept
	Move constructor. More...

	Collision (const Collision &_collision)
	Copy 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 gz::math::Pose3d &	Pose () const SDF_DEPRECATED(9.0)
	Get the pose of the collision object. More...

const std::string &	PoseFrame () const SDF_DEPRECATED(9.0)
	Get the name of the coordinate frame in which this collision object's pose is expressed. 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) const
	Set the name of the collision. More...

void	SetPose (const gz::math::Pose3d &_pose) SDF_DEPRECATED(9.0)
	Set the pose of the collision object. More...

void	SetPoseFrame (const std::string &_frame) SDF_DEPRECATED(9.0)
	Set the name of the coordinate frame in which this collision object's pose is expressed. 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...

sdf::Surface *	Surface () const
	Get a pointer to the collisions's surface parameters. 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() [1/3]

sdf::v9::Collision::Collision ( )

Default constructor.

◆ Collision() [2/3]

sdf::v9::Collision::Collision ( const Collision & _collision )

Copy constructor.

Parameters

[in] _collision Collision to copy.

◆ Collision() [3/3]

sdf::v9::Collision::Collision ( Collision && _collision )

noexcept

Move constructor.

Parameters

[in] _collision Collision to move.

◆ ~Collision()

sdf::v9::Collision::~Collision ( )

Destructor.

Member Function Documentation

◆ Element()

sdf::ElementPtr sdf::v9::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::v9::Collision::Geom ( ) const

Get a pointer to the collisions's geometry.

Returns: The collision's geometry.

◆ Load()

Errors sdf::v9::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::v9::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::v9::Collision::operator= ( Collision && _collision )

Move assignment operator.

Parameters

[in] _collision Collision to move.

Returns: Reference to this.

◆ operator=() [2/2]

Collision& sdf::v9::Collision::operator= ( const Collision & _collision )

Copy assignment operator.

Parameters

[in] _collision Collision to copy.

Returns: Reference to this.

◆ Pose()

const gz::math::Pose3d& sdf::v9::Collision::Pose ( ) const

Get the pose of the collision object.

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

Returns: The pose of the collision object.

Deprecated:: See RawPose.

◆ PoseFrame()

const std::string& sdf::v9::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.

Deprecated:: See PoseRelativeTo.

◆ PoseRelativeTo()

const std::string& sdf::v9::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::v9::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::v9::Collision::SemanticPose ( ) const

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

Returns: SemanticPose object for this link.

◆ SetGeom()

void sdf::v9::Collision::SetGeom ( const Geometry & _geom )

Set the collision's geometry.

Parameters

[in] _geom The geometry of the collision object

◆ SetName()

void sdf::v9::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::v9::Collision::SetPose ( const gz::math::Pose3d & _pose )

Set the pose of the collision object.

See also: const gz::math::Pose3d &Pose() const

Parameters

[in] _pose The pose of the collision object.

Deprecated:: See SetRawPose.

◆ SetPoseFrame()

void sdf::v9::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.

Deprecated:: See SetPoseRelativeTo.

◆ SetPoseRelativeTo()

void sdf::v9::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::v9::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::v9::Collision::SetSurface ( const sdf::Surface & _surface )

Set the collision's surface parameters.

Parameters

[in] _surface The surface parameters of the collision object

◆ Surface()

sdf::Surface* sdf::v9::Collision::Surface ( ) const

Get a pointer to the collisions's surface parameters.

Returns: The collision's surface parameters.

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

Collision.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Collision() [1/3]

◆ Collision() [2/3]

◆ Collision() [3/3]

◆ ~Collision()

Member Function Documentation

◆ Element()

◆ Geom()

◆ Load()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Pose()

◆ PoseFrame()

◆ PoseRelativeTo()

◆ RawPose()

◆ SemanticPose()

◆ SetGeom()

◆ SetName()

◆ SetPose()

◆ SetPoseFrame()

◆ SetPoseRelativeTo()

◆ SetRawPose()

◆ SetSurface()

◆ Surface()