28 std::vector<GeometryConfig> geometries;
29 std::string reference_frame;
33 std::string reference_frame;
35 boost::optional<GeometryConfig> physical_object;
40 WorldState(std::vector<geometries_in_frame> obstacles, std::vector<transform> transforms);
42 const std::vector<geometries_in_frame>& obstacles()
const;
43 const std::vector<transform>& transforms()
const;
50 std::vector<geometries_in_frame> obstacles_;
51 std::vector<transform> transforms_;