body_shape_description.h File Reference

#include <string>
#include <utility>
#include "drake/common/copyable_unique_ptr.h"
#include "drake/common/drake_copyable.h"
#include "drake/geometry/shape_specification.h"
#include "drake/multibody/plant/multibody_plant.h"

Include dependency graph for body_shape_description.h:

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Classes
class	BodyShapeDescription
	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. More...

Namespaces
namespace	drake
namespace	drake::planning

Functions
BodyShapeDescription	MakeBodyShapeDescription (const multibody::MultibodyPlant< double > &plant, const systems::Context< double > &plant_context, const geometry::GeometryId &geometry_id)
	Constructs a BodyShapeDescription by extracting the shape, pose, and names associated with the provided geometry_id.