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OpenRAVE::RobotBase::GrabbedInfo Class Reference

holds all user-set attached sensor information used to initialize the AttachedSensor class. More...

#include <robot.h>

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Public Attributes

std::string _grabbedname
 the name of the body to grab
 
std::string _robotlinkname
 the name of the robot link that is grabbing the body
 
Transform _trelative
 transform of first link of body relative to _robotlinkname's transform. In other words, grabbed->GetTransform() == robotlink->GetTransform()*trelative
 
std::set< int > _setRobotLinksToIgnore
 links of the robot to force ignoring because of pre-existing collions at the time of grabbing. Note that this changes depending on the configuration of the robot and the relative position of the grabbed body.
 

Detailed Description

holds all user-set attached sensor information used to initialize the AttachedSensor class.

This is serializable and independent of environment.

Definition at line 441 of file robot.h.

Member Data Documentation

std::string OpenRAVE::RobotBase::GrabbedInfo::_grabbedname

the name of the body to grab

Definition at line 444 of file robot.h.

std::string OpenRAVE::RobotBase::GrabbedInfo::_robotlinkname

the name of the robot link that is grabbing the body

Definition at line 445 of file robot.h.

std::set<int> OpenRAVE::RobotBase::GrabbedInfo::_setRobotLinksToIgnore

links of the robot to force ignoring because of pre-existing collions at the time of grabbing. Note that this changes depending on the configuration of the robot and the relative position of the grabbed body.

Definition at line 447 of file robot.h.

Transform OpenRAVE::RobotBase::GrabbedInfo::_trelative

transform of first link of body relative to _robotlinkname's transform. In other words, grabbed->GetTransform() == robotlink->GetTransform()*trelative

Definition at line 446 of file robot.h.


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