CollisionChecker::AddedShape Struct Reference

Detailed Description

Representation of an "added" shape.

These are shapes that get added to the model via the CollisionChecker's Shape API. They encode the id for the added geometry and the index of the body (robot or environment) to which the geometry is affixed.

#include <drake/planning/collision_checker.h>

Public Attributes
geometry::GeometryId	geometry_id
	The id of the geometry. More...
multibody::BodyIndex	body_index
	The index of the body the shape was added; could be robot or environment. More...
BodyShapeDescription	description
	The full body description. More...

Member Data Documentation

body_index

multibody::BodyIndex body_index

The index of the body the shape was added; could be robot or environment.

description

BodyShapeDescription description

The full body description.

We have the invariant that body_index has the body and model instance names recorded in the description.

geometry_id

geometry::GeometryId geometry_id

The id of the geometry.

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

• drake/planning/collision_checker.h