Template Class GeometryPoolTpl

Inheritance Relationships

Base Type

Class Documentation

template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
class GeometryPoolTpl : public pinocchio::ModelPoolTpl<_Scalar, _Options, JointCollectionTpl>

Public Types

Values:

enumerator Options
typedef _Scalar Scalar
typedef Base::Model Model
typedef Base::Data Data
typedef Base::DataVector DataVector
typedef ::pinocchio::GeometryModel GeometryModel
typedef ::pinocchio::GeometryData GeometryData
typedef std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> GeometryModelVector
typedef std::vector<GeometryData, Eigen::aligned_allocator<GeometryData>> GeometryDataVector

Public Functions

inline GeometryPoolTpl(const Model &model, const GeometryModel &geometry_model, const int pool_size = omp_get_max_threads())

Default constructor from a model and a pool size.

Parameters:

  • model – [in] input model used for parallel computations.

  • geometry_model – [in] input geometry model used for parallel computations.

  • pool_size – [in] total size of the pool.

inline GeometryPoolTpl(const GeometryPoolTpl &other)

Copy constructor from an other GeometryPoolTpl.

Parameters:

other – [in] GeometryPoolTpl to copy.

inline const GeometryModel &geometry_model() const

Returns the geometry model.

inline GeometryModel &geometry_model()

Returns the geometry model.

inline const GeometryData &geometry_data(const size_t index) const

Returns the geometry_data at index.

inline GeometryData &geometry_data(const size_t index)

Returns the geometry_data at index.

inline const GeometryDataVector &geometry_datas() const

Vector of Geometry Data.

inline GeometryDataVector &geometry_datas()

Vector of Geometry Data.

inline void update(const GeometryData &geometry_data)

Update the geometry datas with the new value.

Parameters:

geometry_data – [in] new geometry data value

inline void update(const GeometryModel &geometry_model)

Update the geometry model with the new input value. In this case, all the geometry_datas will be replaced.

Parameters:

geometry_model – [in] new geometry model value.

inline void update(const GeometryModel &geometry_model, const GeometryData &geometry_data)

Update the geometry model and data with the new input values. In this case, all the geometry_datas will be replaced.

Parameters:

  • geometry_model – [in] new geometry model value.

  • geometry_data – [in] new geometry data value

inline virtual ~GeometryPoolTpl()

Destructor

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelPoolTpl< _Scalar, _Options, JointCollectionTpl > Base

Protected Functions

inline virtual void do_resize(const int new_size)

Method to implement in the derived classes.

Protected Attributes

GeometryModel m_geometry_model

Geometry Model associated to the pool.

GeometryDataVector m_geometry_datas

Vector of Geometry Data associated to the pool.