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OpenRAVE::KinBody::GeometryInfo Class Reference

Describes the properties of a geometric primitive. More...

#include <kinbody.h>

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Public Member Functions

 GeometryInfo ()
 
virtual ~GeometryInfo ()
 
bool InitCollisionMesh (float fTessellation=1)
 
dReal GetSphereRadius () const
 
dReal GetCylinderRadius () const
 
dReal GetCylinderHeight () const
 
const VectorGetBoxExtents () const
 
- Public Member Functions inherited from OpenRAVE::XMLReadable
 XMLReadable (const std::string &xmlid)
 
virtual ~XMLReadable ()
 
virtual const std::string & GetXMLId () const
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
- Public Member Functions inherited from OpenRAVE::UserData
virtual ~UserData ()
 

Public Attributes

Transform _t
 Local transformation of the geom primitive with respect to the link's coordinate system.
 
Vector _vGeomData
 
RaveVector< float > _vDiffuseColor
 
RaveVector< float > _vAmbientColor
 hints for how to color the meshes
 
TriMesh _meshcollision
 trimesh representation of the collision data of this object in this local coordinate system
 
GeometryType _type
 the type of geometry primitive
 
std::string _filenamerender
 filename for render model (optional)
 
std::string _filenamecollision
 filename for collision data (optional)
 
Vector _vRenderScale
 render scale of the object (x,y,z) from _filenamerender
 
Vector _vCollisionScale
 render scale of the object (x,y,z) from _filenamecollision
 
float _fTransparency
 value from 0-1 for the transparency of the rendered object, 0 is opaque
 
bool _bVisible
 if true, geometry is visible as part of the 3d model (default is true)
 
bool _bModifiable
 if true, object geometry can be dynamically modified (default is true)
 

Detailed Description

Describes the properties of a geometric primitive.

Contains everything associated with a geometry's appearance and shape

Definition at line 90 of file kinbody.h.

Constructor & Destructor Documentation

OpenRAVE::KinBody::GeometryInfo::GeometryInfo ( )
virtual OpenRAVE::KinBody::GeometryInfo::~GeometryInfo ( )
inlinevirtual

Definition at line 94 of file kinbody.h.

Member Function Documentation

const Vector& OpenRAVE::KinBody::GeometryInfo::GetBoxExtents ( ) const
inline

Definition at line 110 of file kinbody.h.

dReal OpenRAVE::KinBody::GeometryInfo::GetCylinderHeight ( ) const
inline

Definition at line 107 of file kinbody.h.

dReal OpenRAVE::KinBody::GeometryInfo::GetCylinderRadius ( ) const
inline

Definition at line 104 of file kinbody.h.

dReal OpenRAVE::KinBody::GeometryInfo::GetSphereRadius ( ) const
inline

Definition at line 101 of file kinbody.h.

bool OpenRAVE::KinBody::GeometryInfo::InitCollisionMesh ( float  fTessellation = 1)

triangulates the geometry object and initializes collisionmesh. GeomTrimesh types must already be triangulated

Parameters
fTessellationto control how fine the triangles need to be. 1.0f is the default value

Member Data Documentation

bool OpenRAVE::KinBody::GeometryInfo::_bModifiable

if true, object geometry can be dynamically modified (default is true)

Definition at line 145 of file kinbody.h.

bool OpenRAVE::KinBody::GeometryInfo::_bVisible

if true, geometry is visible as part of the 3d model (default is true)

Definition at line 144 of file kinbody.h.

std::string OpenRAVE::KinBody::GeometryInfo::_filenamecollision

filename for collision data (optional)

If the value is "__norenderif__:x", then the viewer should not render the object if it supports *.x files where"x" is the file extension.

Definition at line 139 of file kinbody.h.

std::string OpenRAVE::KinBody::GeometryInfo::_filenamerender

filename for render model (optional)

Should be transformed by _t before rendering. If the value is "__norenderif__:x", then the viewer should not render the object if it supports *.x files where"x" is the file extension.

Definition at line 134 of file kinbody.h.

float OpenRAVE::KinBody::GeometryInfo::_fTransparency

value from 0-1 for the transparency of the rendered object, 0 is opaque

Definition at line 143 of file kinbody.h.

TriMesh OpenRAVE::KinBody::GeometryInfo::_meshcollision

trimesh representation of the collision data of this object in this local coordinate system

Should be transformed by _t before rendering. For spheres and cylinders, an appropriate discretization value is chosen. If empty, will be automatically computed from the geometry's type and render data

Definition at line 126 of file kinbody.h.

Transform OpenRAVE::KinBody::GeometryInfo::_t

Local transformation of the geom primitive with respect to the link's coordinate system.

Definition at line 114 of file kinbody.h.

GeometryType OpenRAVE::KinBody::GeometryInfo::_type

the type of geometry primitive

Definition at line 128 of file kinbody.h.

RaveVector<float> OpenRAVE::KinBody::GeometryInfo::_vAmbientColor

hints for how to color the meshes

Definition at line 119 of file kinbody.h.

Vector OpenRAVE::KinBody::GeometryInfo::_vCollisionScale

render scale of the object (x,y,z) from _filenamecollision

Definition at line 142 of file kinbody.h.

RaveVector<float> OpenRAVE::KinBody::GeometryInfo::_vDiffuseColor

Definition at line 119 of file kinbody.h.

Vector OpenRAVE::KinBody::GeometryInfo::_vGeomData

for boxes, first 3 values are extents for sphere it is radius for cylinder, first 2 values are radius and height for trimesh, none

Definition at line 115 of file kinbody.h.

Vector OpenRAVE::KinBody::GeometryInfo::_vRenderScale

render scale of the object (x,y,z) from _filenamerender

Definition at line 141 of file kinbody.h.


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