#include <kinbody.h>

Collaboration diagram for OpenRAVE::KinBody::Link::GEOMPROPERTIES:

Public Types
enum	GeomType { GeomNone = 0, GeomBox = 1, GeomSphere = 2, GeomCylinder = 3, GeomTrimesh = 4 }
	The type of geometry primitive. More...
Public Member Functions
	GEOMPROPERTIES (boost::shared_ptr< Link > parent)
virtual	~GEOMPROPERTIES ()
const Transform &	GetTransform () const
	Local transformation of the geom primitive with respect to the link's coordinate system.
GeomType	GetType () const
const Vector &	GetRenderScale () const
const std::string &	GetRenderFilename () const
	render resource file, should be transformed by _t before rendering
float	GetTransparency () const
bool	IsDraw () const RAVE_DEPRECATED
bool	IsVisible () const
bool	IsModifiable () const
dReal	GetSphereRadius () const
dReal	GetCylinderRadius () const
dReal	GetCylinderHeight () const
const Vector &	GetBoxExtents () const
const RaveVector< float > &	GetDiffuseColor () const
const RaveVector< float > &	GetAmbientColor () const
const TRIMESH &	GetCollisionMesh () const
	trimesh representation of the collision data of this object in this local coordinate system
virtual AABB	ComputeAABB (const Transform &trans) const
	returns an axis aligned bounding box given that the geometry is transformed by trans
virtual void	serialize (std::ostream &o, int options) const
virtual void	SetCollisionMesh (const TRIMESH &mesh)
	sets a new collision mesh and notifies every registered callback about it
virtual bool	SetVisible (bool visible)
	sets visible flag. if changed, notifies every registered callback about it.
void	SetDraw (bool bDraw) RAVE_DEPRECATED
virtual void	SetTransparency (float f)
	set transparency level (0 is opaque)
virtual void	SetDiffuseColor (const RaveVector< float > &color)
	override diffuse color of geometry material
virtual void	SetAmbientColor (const RaveVector< float > &color)
	override ambient color of geometry material
virtual bool	ValidateContactNormal (const Vector &position, Vector &normal) const
	validates the contact normal on the surface of the geometry and makes sure the normal faces "outside" of the shape.
virtual void	SetRenderFilename (const std::string &renderfilename)
	sets a new render filename for the geometry. This does not change the collision
Protected Member Functions
bool	InitCollisionMesh (float fTessellation=1)
Protected Attributes
boost::weak_ptr< Link >	_parent
Transform	_t
	see GetTransform
Vector	vGeomData
RaveVector< float >	diffuseColor
RaveVector< float >	ambientColor
	hints for how to color the meshes
TRIMESH	collisionmesh
	see GetCollisionMesh
GeomType	_type
	the type of geometry primitive
std::string	_renderfilename
Vector	vRenderScale
	render scale of the object (x,y,z)
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 basic geometric primitive. Contains everything associated with a physical body along with a seprate (optional) render file.

Definition at line 97 of file kinbody.h.

Member Enumeration Documentation

enum OpenRAVE::KinBody::Link::GEOMPROPERTIES::GeomType

The type of geometry primitive.

Enumerator:

GeomNone
GeomBox
GeomSphere
GeomCylinder
GeomTrimesh

Definition at line 101 of file kinbody.h.

Constructor & Destructor Documentation

OpenRAVE::KinBody::Link::GEOMPROPERTIES::GEOMPROPERTIES ( boost::shared_ptr< Link > parent )

virtual OpenRAVE::KinBody::Link::GEOMPROPERTIES::~GEOMPROPERTIES ( ) [inline, virtual]

Definition at line 110 of file kinbody.h.

Member Function Documentation

AABB OpenRAVE::KinBody::Link::GEOMPROPERTIES::ComputeAABB ( const Transform & trans ) const [virtual]

returns an axis aligned bounding box given that the geometry is transformed by trans

Definition at line 150 of file kinbodylink.cpp.

const RaveVector<float>& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetAmbientColor ( ) const [inline]

Definition at line 159 of file kinbody.h.

const Vector& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetBoxExtents ( ) const [inline]

Definition at line 153 of file kinbody.h.

const TRIMESH& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetCollisionMesh ( ) const [inline]

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

Should be transformed by GEOMPROPERTIES::GetTransform() before rendering. For spheres and cylinders, an appropriate discretization value is chosen.

Definition at line 167 of file kinbody.h.

dReal OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetCylinderHeight ( ) const [inline]

Definition at line 150 of file kinbody.h.

dReal OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetCylinderRadius ( ) const [inline]

Definition at line 147 of file kinbody.h.

const RaveVector<float>& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetDiffuseColor ( ) const [inline]

Definition at line 156 of file kinbody.h.

const std::string& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetRenderFilename ( ) const [inline]

render resource file, 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 127 of file kinbody.h.

const Vector& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetRenderScale ( ) const [inline]

Definition at line 120 of file kinbody.h.

dReal OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetSphereRadius ( ) const [inline]

Definition at line 144 of file kinbody.h.

const Transform& OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetTransform ( ) const [inline]

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

Definition at line 114 of file kinbody.h.

float OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetTransparency ( ) const [inline]

Definition at line 130 of file kinbody.h.

GeomType OpenRAVE::KinBody::Link::GEOMPROPERTIES::GetType ( ) const [inline]

Definition at line 117 of file kinbody.h.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::InitCollisionMesh ( float fTessellation = 1 ) [protected]

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

Parameters:

fTessellation

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

Definition at line 320 of file kinbodylink.cpp.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::IsDraw ( ) const [inline]

Deprecated:: (12/1/12)

Definition at line 134 of file kinbody.h.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::IsModifiable ( ) const [inline]

Definition at line 140 of file kinbody.h.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::IsVisible ( ) const [inline]

Definition at line 137 of file kinbody.h.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::serialize	(	std::ostream &	o,
		int	options
	)			const `[virtual]`

Definition at line 404 of file kinbodylink.cpp.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetAmbientColor ( const RaveVector< float > & color ) [virtual]

override ambient color of geometry material

Definition at line 450 of file kinbodylink.cpp.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetCollisionMesh ( const TRIMESH & mesh ) [virtual]

sets a new collision mesh and notifies every registered callback about it

Definition at line 417 of file kinbodylink.cpp.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetDiffuseColor ( const RaveVector< float > & color ) [virtual]

override diffuse color of geometry material

Definition at line 443 of file kinbodylink.cpp.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetDraw ( bool bDraw ) [inline]

Deprecated:: (12/1/12)

Definition at line 182 of file kinbody.h.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetRenderFilename ( const std::string & renderfilename ) [virtual]

sets a new render filename for the geometry. This does not change the collision

Definition at line 563 of file kinbodylink.cpp.

void OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetTransparency ( float f ) [virtual]

set transparency level (0 is opaque)

Definition at line 436 of file kinbodylink.cpp.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::SetVisible ( bool visible ) [virtual]

sets visible flag. if changed, notifies every registered callback about it.

Returns:: true if changed

Definition at line 425 of file kinbodylink.cpp.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::ValidateContactNormal	(	const Vector &	position,
		Vector &	normal
	)			const `[virtual]`

validates the contact normal on the surface of the geometry and makes sure the normal faces "outside" of the shape.

Parameters:

	position	the position of the contact point specified in the link's coordinate system
	normal	the unit normal of the contact point specified in the link's coordinate system

Returns:: true if the normal is changed to face outside of the shape

Definition at line 490 of file kinbodylink.cpp.

Member Data Documentation

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::_bModifiable [protected]

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

Definition at line 221 of file kinbody.h.

bool OpenRAVE::KinBody::Link::GEOMPROPERTIES::_bVisible [protected]

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

Definition at line 220 of file kinbody.h.

boost::weak_ptr<Link> OpenRAVE::KinBody::Link::GEOMPROPERTIES::_parent [protected]

Definition at line 207 of file kinbody.h.

std::string OpenRAVE::KinBody::Link::GEOMPROPERTIES::_renderfilename [protected]

See also:: ref GetRenderFilename

Definition at line 216 of file kinbody.h.

Transform OpenRAVE::KinBody::Link::GEOMPROPERTIES::_t [protected]

see GetTransform

Definition at line 208 of file kinbody.h.

GeomType OpenRAVE::KinBody::Link::GEOMPROPERTIES::_type [protected]

the type of geometry primitive

Definition at line 215 of file kinbody.h.

RaveVector<float> OpenRAVE::KinBody::Link::GEOMPROPERTIES::ambientColor [protected]

hints for how to color the meshes

Definition at line 213 of file kinbody.h.

TRIMESH OpenRAVE::KinBody::Link::GEOMPROPERTIES::collisionmesh [protected]

see GetCollisionMesh

Definition at line 214 of file kinbody.h.

RaveVector<float> OpenRAVE::KinBody::Link::GEOMPROPERTIES::diffuseColor [protected]

Definition at line 213 of file kinbody.h.

float OpenRAVE::KinBody::Link::GEOMPROPERTIES::ftransparency [protected]

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

Definition at line 218 of file kinbody.h.

Vector OpenRAVE::KinBody::Link::GEOMPROPERTIES::vGeomData [protected]

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 209 of file kinbody.h.

Vector OpenRAVE::KinBody::Link::GEOMPROPERTIES::vRenderScale [protected]

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

Definition at line 217 of file kinbody.h.

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

/var/lib/jenkins/workspace/openrave_documentation/openrave/include/openrave/kinbody.h (r3486/r3478)
/var/lib/jenkins/workspace/openrave_documentation/openrave/src/libopenrave/kinbodylink.cpp (r3486/r3345)

OpenRAVE::KinBody::Link::GEOMPROPERTIES Class Reference

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation