Drake
GeometryInstance Class Reference

A geometry instance combines a geometry definition (i.e., a shape of some sort), a pose (relative to a parent "frame" P), material information, and an opaque collection of metadata. More...

#include <drake/geometry/geometry_instance.h>

Public Member Functions

 GeometryInstance (const Isometry3< double > &X_PG, std::unique_ptr< Shape > shape)
 Constructor. More...
 
const Isometry3< double > & get_pose () const
 
void set_pose (const Isometry3< double > &X_PG)
 
const Shapeget_shape () const
 
std::unique_ptr< Shaperelease_shape ()
 Releases the shape from the instance. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 GeometryInstance (const GeometryInstance &)=default
 
GeometryInstanceoperator= (const GeometryInstance &)=default
 
 GeometryInstance (GeometryInstance &&)=default
 
GeometryInstanceoperator= (GeometryInstance &&)=default
 

Detailed Description

A geometry instance combines a geometry definition (i.e., a shape of some sort), a pose (relative to a parent "frame" P), material information, and an opaque collection of metadata.

The parent frame can be a registered frame or another registered geometry.

Constructor & Destructor Documentation

GeometryInstance ( const GeometryInstance )
default
GeometryInstance ( const Isometry3< double > &  X_PG,
std::unique_ptr< Shape shape 
)

Constructor.

Parameters
X_PGThe pose of this geometry (G) in its parent's frame (P).
shapeThe underlying shape for this geometry instance.

Member Function Documentation

const Isometry3<double>& get_pose ( ) const
inline

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const Shape& get_shape ( ) const
inline
GeometryInstance& operator= ( GeometryInstance &&  )
default
GeometryInstance& operator= ( const GeometryInstance )
default
std::unique_ptr<Shape> release_shape ( )
inline

Releases the shape from the instance.

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void set_pose ( const Isometry3< double > &  X_PG)
inline

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