#include <drake/systems/plants/collision/Element.h>

Inheritance diagram for Element:

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Public Member Functions
	Element (const Eigen::Isometry3d &T_element_to_local=Eigen::Isometry3d::Identity())

	Element (const DrakeShapes::Geometry &geometry, const Eigen::Isometry3d &T_element_to_local=Eigen::Isometry3d::Identity())

virtual	~Element ()

virtual Element *	clone () const

ElementId	getId () const

virtual bool	isStatic () const

void	set_static ()
	Flags this collision element to be static, i.e. More...

bool	is_static ()
	Returns `true` if the shape does not move, `false` otherwise. More...

virtual bool	CollidesWith (const Element *other) const
	Returns true if this element should be checked for collisions with the other object. More...

const RigidBody *	get_body () const
	Returns a pointer to the const RigidBody to which this CollisionElement is attached. More...

void	set_body (const RigidBody *body)
	Sets the rigid body this collision element is attached to. More...

Public Member Functions inherited from Element
	Element (const Geometry &geometry, const Eigen::Isometry3d &T_element_to_local)

	Element (const Geometry &geometry)

	Element (const Eigen::Isometry3d &T_element_to_local)

const Eigen::Isometry3d &	getWorldTransform () const

const Eigen::Isometry3d &	getLocalTransform () const

void	SetLocalTransform (const Eigen::Isometry3d &T_element_to_local)

virtual void	updateWorldTransform (const Eigen::Isometry3d &T_local_to_world)

Shape	getShape () const

void	setGeometry (const Geometry &geometry)

bool	hasGeometry () const

const Geometry &	getGeometry () const

void	getTerrainContactPoints (Eigen::Matrix3Xd &points) const

Protected Member Functions
	Element (const Element &other)

Protected Member Functions inherited from Element
virtual void	setWorldTransform (const Eigen::Isometry3d &T_elem_to_world)

	Element (const Element &)

Element &	operator= (const Element &)

Friends
DRAKECOLLISION_EXPORT std::ostream &	operator<< (std::ostream &, const Element &)
	A toString method for this class. More...

Additional Inherited Members
Protected Attributes inherited from Element
Eigen::Isometry3d	T_element_to_world

Eigen::Isometry3d	T_element_to_local

std::unique_ptr< Geometry >	geometry

Constructor & Destructor Documentation

Element ( const Eigen::Isometry3d & T_element_to_local = Eigen::Isometry3d::Identity() )

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Element	(	const DrakeShapes::Geometry &	geometry,
		const Eigen::Isometry3d &	T_element_to_local = `Eigen::Isometry3d::Identity()`
	)

virtual ~Element ( )

inlinevirtual

Reimplemented from Element.

Element ( const Element & other )

protected

Member Function Documentation

Element * clone ( ) const

virtual

Reimplemented from Element.

Reimplemented in RigidBody::CollisionElement.

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virtual bool CollidesWith ( const Element * other ) const

inlinevirtual

Returns true if this element should be checked for collisions with the other object.

CollidesWith should be symmetric: if A collides with B, B collides with A.

Reimplemented in RigidBody::CollisionElement.

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const RigidBody * get_body ( ) const

Returns a pointer to the const RigidBody to which this CollisionElement is attached.

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ElementId getId ( ) const

bool is_static ( )

inline

Returns true if the shape does not move, false otherwise.

For instance, a terrain commonly is a static collision element. This property could allow the collision dispatcher to perform certain optimizations not generally possible for moving objects.

virtual bool isStatic ( ) const

inlinevirtual

void set_body ( const RigidBody * body )

Sets the rigid body this collision element is attached to.

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void set_static ( )

inline

Flags this collision element to be static, i.e.

does not move.

See also: Element::is_static().

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Friends And Related Function Documentation

DRAKECOLLISION_EXPORT std::ostream& operator<<	(	std::ostream &	out,
		const Element &	ee
	)

friend

A toString method for this class.

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

drake/systems/plants/collision/Element.h
drake/systems/plants/collision/Element.cpp

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation