BodyShapeDescription Class Reference

Detailed Description

BodyShapeDescription captures all the information necessary to describe a SceneGraph collision shape associated with a MultibodyPlant Body: a shape S, the MultibodyPlant body B (identified by model instance and body names), and the rigid pose of the shape S relative to the body B, X_BS.

Most clients should use the factory method MakeBodyShapeDescription() to construct a valid BodyShapeDescription; it will extract and verify the correct information from a multibody plant and its context.

When moved-from, this object models a "null" description and all of the getter functions will throw.

#include <drake/planning/body_shape_description.h>

Public Member Functions
	BodyShapeDescription (const geometry::Shape &shape, const math::RigidTransformd &X_BS, std::string model_instance_name, std::string body_name)
	Constructs a description with the given attributes. More...
const geometry::Shape &	shape () const
const math::RigidTransformd &	pose_in_body () const
const std::string &	model_instance_name () const
const std::string &	body_name () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	BodyShapeDescription (const BodyShapeDescription &)=default
BodyShapeDescription &	operator= (const BodyShapeDescription &)=default
	BodyShapeDescription (BodyShapeDescription &&)=default
BodyShapeDescription &	operator= (BodyShapeDescription &&)=default

Constructor & Destructor Documentation

BodyShapeDescription() [1/3]

BodyShapeDescription ( const BodyShapeDescription &  )

default

BodyShapeDescription() [2/3]

BodyShapeDescription ( BodyShapeDescription &&  )

default

BodyShapeDescription() [3/3]

BodyShapeDescription	(	const geometry::Shape &	shape,
		const math::RigidTransformd &	X_BS,
		std::string	model_instance_name,
		std::string	body_name
	)

Constructs a description with the given attributes.

Does not check or enforce correctness; callers are responsible for providing consistent input.

Member Function Documentation

body_name()

const std::string& body_name

(

)

const

Returns

the body name passed at construction.

model_instance_name()

const std::string& model_instance_name

(

)

const

Returns

the model instance name passed at construction.

operator=() [1/2]

BodyShapeDescription& operator= ( BodyShapeDescription &&  )

default

operator=() [2/2]

BodyShapeDescription& operator= ( const BodyShapeDescription &  )

default

pose_in_body()

const math::RigidTransformd& pose_in_body

(

)

const

Return values

X_BS	The pose passed at construction.

shape()

const geometry::Shape& shape

(

)

const

Returns

the shape passed at construction.

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

• drake/planning/body_shape_description.h