Class CollisionObject

LUA wrapper for moveit collision objects environment dependency to tourch.ros

Methods

CollisionObject:getId () Get id of the collision object.
CollisionObject:setId (id) Get id of the collision object.
CollisionObject:getFrameId () Get the Frame id of the collision object.
CollisionObject:setFrameId (frame_id) Set Frame id of the collision object.
CollisionObject:getOperation () Get operation of the collision object.
CollisionObject:setOperation (op) Get operation of the collision object.
CollisionObject:addPrimitive (primitive_type, dimensions, pose) Add an object with position in space.
CollisionObject:addPlane (coefs, pose) Add an plane with position in space.


Methods

CollisionObject:getId ()
Get id of the collision object.

Returns:

    string
CollisionObject:setId (id)
Get id of the collision object.

Parameters:

CollisionObject:getFrameId ()
Get the Frame id of the collision object.

Returns:

    string
CollisionObject:setFrameId (frame_id)
Set Frame id of the collision object.

Parameters:

CollisionObject:getOperation ()
Get operation of the collision object.

Returns:

    int operationtype
CollisionObject:setOperation (op)
Get operation of the collision object.

Parameters:

  • op int
CollisionObject:addPrimitive (primitive_type, dimensions, pose)
Add an object with position in space.

Parameters:

  • primitive_type int
  • dimensions torch.DoubleTensor
  • pose tf.Transform
CollisionObject:addPlane (coefs, pose)
Add an plane with position in space.

Parameters:

  • coefs torch.DoubleTensor
  • pose tf.Transform
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