Detailed Description

Container for all spheres belonging to a single body's collision model.

API is generally equivalent to that of map<GeometryId, SphereSpecification>. Interator support is provided to enable easy iteration over the spheres.

#include <drake/planning/experimental/sphere_robot_model_collision_checker.h>

Public Types
using	const_iterator

Public Member Functions
	BodySpheres ()=default
const_iterator	begin () const
const_iterator	end () const
const SphereSpecification &	At (geometry::GeometryId geometry_id) const
int	Size () const
bool	Empty () const
const SphereSpecification &	bounding_sphere () const
	Retrieve the bounding sphere, if available, or throws if the bounding sphere is not available.

Friends
class	SphereRobotModelCollisionChecker

Member Typedef Documentation

◆ const_iterator

using const_iterator

Initial value:

 
      typename std::unordered_map<geometry::GeometryId,
                                  SphereSpecification>::const_iterator

Constructor & Destructor Documentation

◆ BodySpheres()

BodySpheres ( )

default

Member Function Documentation

◆ At()

const SphereSpecification & At ( geometry::GeometryId geometry_id ) const

◆ begin()

const_iterator begin ( ) const

◆ bounding_sphere()

const SphereSpecification & bounding_sphere ( ) const

Retrieve the bounding sphere, if available, or throws if the bounding sphere is not available.

◆ Empty()

bool Empty ( ) const

◆ end()

const_iterator end ( ) const

◆ Size()

int Size ( ) const

◆ SphereRobotModelCollisionChecker

friend class SphereRobotModelCollisionChecker

friend

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

drake/planning/experimental/sphere_robot_model_collision_checker.h