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Robotics Library
0.6.2
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27 #ifndef _RL_SG_SOLID_SHAPE_H_
28 #define _RL_SG_SOLID_SHAPE_H_
30 #include <Inventor/fields/SoMFInt32.h>
31 #include <Inventor/fields/SoMFVec3f.h>
32 #include <SOLID/SOLID.h>
33 #include <SOLID/SOLID_broad.h>
36 #include <unordered_set>
38 #include <tr1/unordered_set>
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
81 DT_ShapeHandle
create(
const SoMFVec3f& point);
83 DT_ShapeHandle
create(
const SoMFVec3f& point,
const SoMFInt32& coordIndex);
99 #endif // _RL_SG_SOLID_SHAPE_H_
DT_ShapeHandle shape
Definition: Shape.h:91
DT_Vector3 max
Definition: Shape.h:87
DT_ShapeHandle create(SoVRMLShape *shape)
Definition: Shape.cpp:94
::std::tr1::unordered_set< Shape * > encounters
Definition: Shape.h:70
Body * body
Definition: Shape.h:58
void update()
Definition: Shape.cpp:231
void setTransform(const ::rl::math::Transform &transform)
Definition: Shape.cpp:223
::rl::math::Transform transform
Definition: Shape.h:93
bool complex
Definition: Shape.h:68
Shape(SoVRMLShape *shape, Body *body)
Definition: Shape.cpp:46
DT_Vector3 min
Definition: Shape.h:89
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
void setMargin(const ::rl::math::Real &margin)
Definition: Shape.cpp:217
DT_ObjectHandle object
Definition: Shape.h:72
double Real
Definition: Real.h:34
void getTransform(::rl::math::Transform &transform)
Definition: Shape.cpp:197
virtual ~Shape()
Definition: Shape.cpp:67
BP_ProxyHandle proxy
Definition: Shape.h:74
::rl::math::Transform frame
Definition: Shape.h:85