Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc(). More...

#include <erk_capi_types.h>

Public Attributes
TErGeoHandle	GeoHandle
	unique geometry handle created by host application More...

char *	FileName
	file name geometetry file to be loaded More...

char *	GeoName
	name of loaded geometry More...

long	RGBColor
	color value of loaded geometry More...

double *	Scaling
	xyz scaling of loaded geometry and depending on `GeoType` More...

DFRAME *	GeoMat
	location of geometry w.r.t. to belonging axis `ax_idx` More...

long	ax_idx
	axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints More...

long	GeoType
	Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE, ER_GEO_TYPE_CYLINDER, ER_GEO_TYPE_CONE, ER_GEO_TYPE_SPHERE, ER_GEO_TYPE_IGP, ER_GEO_TYPE_STL, ER_GEO_TYPE_3DS. More...

long	GeoAttributes
	Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVERT, ER_GEO_ATTRIBUTES_BFACE_CULLING ... More...

long	GeoSizeParameterNum
	Number of geometry primitive parameter in `GeoSizeParameter`, depending on loaded GeoType. More...

double *	GeoSizeParameter
	Primitive parameter of loaded geometry and depending on `GeoType`, maximum length ER_GEO_PARAMETER_MAX. More...

long	GeoAttributeParameterNum
	Number of geometry attribute parameter in `GeoAttributeParameter`. More...

double *	GeoAttributeParameter
	Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]), maximum length ER_GEO_PARAMETER_MAX. More...

Detailed Description

Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc().

Member Data Documentation

◆ ax_idx

long LOAD_GEOMETRY_DATA::ax_idx

axis identifier the loaded geometry belongs to. >=0 active joints, <0 passivee joints

◆ FileName

char* LOAD_GEOMETRY_DATA::FileName

file name geometetry file to be loaded

◆ GeoAttributeParameter

double* LOAD_GEOMETRY_DATA::GeoAttributeParameter

Attribute parameter of loaded geometry (transparency [0..1], collision tolerance [m]), maximum length ER_GEO_PARAMETER_MAX.

◆ GeoAttributeParameterNum

long LOAD_GEOMETRY_DATA::GeoAttributeParameterNum

Number of geometry attribute parameter in GeoAttributeParameter.

◆ GeoAttributes

long LOAD_GEOMETRY_DATA::GeoAttributes

Bitfield for additional geometry attributes, such as ER_GEO_ATTRIBUTES_SMOOTH, ER_GEO_ATTRIBUTES_INVERT, ER_GEO_ATTRIBUTES_BFACE_CULLING ...

◆ GeoHandle

TErGeoHandle LOAD_GEOMETRY_DATA::GeoHandle

unique geometry handle created by host application

◆ GeoMat

DFRAME* LOAD_GEOMETRY_DATA::GeoMat

location of geometry w.r.t. to belonging axis ax_idx

◆ GeoName

char* LOAD_GEOMETRY_DATA::GeoName

name of loaded geometry

◆ GeoSizeParameter

double* LOAD_GEOMETRY_DATA::GeoSizeParameter

Primitive parameter of loaded geometry and depending on GeoType, maximum length ER_GEO_PARAMETER_MAX.

◆ GeoSizeParameterNum

long LOAD_GEOMETRY_DATA::GeoSizeParameterNum

Number of geometry primitive parameter in GeoSizeParameter, depending on loaded GeoType.

◆ GeoType

long LOAD_GEOMETRY_DATA::GeoType

Type of geometry, one of ER_GEO_TYPE_CUBE, ER_GEO_TYPE_PYRAMID, ER_GEO_TYPE_WEDGE, ER_GEO_TYPE_CYLINDER, ER_GEO_TYPE_CONE, ER_GEO_TYPE_SPHERE, ER_GEO_TYPE_IGP, ER_GEO_TYPE_STL, ER_GEO_TYPE_3DS.

◆ RGBColor

long LOAD_GEOMETRY_DATA::RGBColor

color value of loaded geometry

◆ Scaling

double* LOAD_GEOMETRY_DATA::Scaling

xyz scaling of loaded geometry and depending on GeoType

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

erk_capi_types.h

Public Attributes