Drake
InternalGeometryBase Class Reference

Base class for the internal representation of registered geometry. More...

#include <drake/geometry/internal_geometry.h>

Inheritance diagram for InternalGeometryBase:
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Public Member Functions

 InternalGeometryBase ()
 Default constructor. More...
 
 InternalGeometryBase (std::unique_ptr< Shape > shape, GeometryId geometry_id, const Isometry3< double > &X_PG)
 Full constructor. More...
 
bool operator== (const InternalGeometryBase &other) const
 Compares two InternalGeometryBase instances for "equality". More...
 
bool operator!= (const InternalGeometryBase &other) const
 Compares two InternalGeometry instances for inequality. More...
 
const Shapeget_shape () const
 
GeometryId get_id () const
 
const Isometry3< double > & get_pose_in_parent () const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 InternalGeometryBase (const InternalGeometryBase &)=default
 
InternalGeometryBaseoperator= (const InternalGeometryBase &)=default
 
 InternalGeometryBase (InternalGeometryBase &&)=default
 
InternalGeometryBaseoperator= (InternalGeometryBase &&)=default
 

Detailed Description

Base class for the internal representation of registered geometry.

It includes the data common to both anchored and dynamic geometry.

Constructor & Destructor Documentation

Default constructor.

The geometry id will be invalid, the shape will be nullptr, and the pose will be uninitialized.

InternalGeometryBase ( std::unique_ptr< Shape shape,
GeometryId  geometry_id,
const Isometry3< double > &  X_PG 
)
inline

Full constructor.

Parameters
shapeThe shape specification for this instance.
geometry_idThe identifier for this geometry.
X_PGThe pose of the geometry G in the parent frame P.

Member Function Documentation

GeometryId get_id ( ) const
inline
const Isometry3<double>& get_pose_in_parent ( ) const
inline
const Shape& get_shape ( ) const
inline
bool operator!= ( const InternalGeometryBase other) const
inline

Compares two InternalGeometry instances for inequality.

See operator==() for the definition of equality.

InternalGeometryBase& operator= ( InternalGeometryBase &&  )
default
InternalGeometryBase& operator= ( const InternalGeometryBase )
default
bool operator== ( const InternalGeometryBase other) const
inline

Compares two InternalGeometryBase instances for "equality".

Two internal geometries are considered equal if they have the same geometry identifier.


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