Struct GeometryModel

• Defined in File geometry.hpp

Struct Documentation

struct GeometryModel

Public Types

Values:

enumerator Options

typedef SE3Tpl<Scalar, Options> SE3

typedef ::pinocchio::GeometryObject GeometryObject

typedef std::vector<CollisionPair> CollisionPairVector

typedef Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXb

typedef pinocchio::GeomIndex GeomIndex

Public Functions

typedef PINOCCHIO_ALIGNED_STD_VECTOR (GeometryObject) GeometryObjectVector

inline GeometryModel()

inline ~GeometryModel()

template<typename S2, int O2, template<typename, int> class _JointCollectionTpl>
GeomIndex addGeometryObject(const GeometryObject &object, const ModelTpl<S2, O2, _JointCollectionTpl> &model)

Add a geometry object to a GeometryModel and set its parent joint.

Note

object is a nonconst copy to ease the insertion code.

Parameters:

• object – [in] Object

• model – [in] Corresponding model, used to assert the attributes of object.

Returns:

The index of the new added GeometryObject in geometryObjects

GeomIndex addGeometryObject(const GeometryObject &object)

Add a geometry object to a GeometryModel.

Parameters:

object – [in] Object

Returns:

The index of the new added GeometryObject in geometryObjects.

void removeGeometryObject(const std::string &name)

Remove a GeometryObject.

@node Remove also the collision pairs that contain the object.

Parameters:

name – [in] Name of the GeometryObject

GeomIndex getGeometryId(const std::string &name) const

Return the index of a GeometryObject given by its name.

Parameters:

name – [in] Name of the GeometryObject

Returns:

Index of the corresponding GeometryObject

bool existGeometryName(const std::string &name) const

Check if a GeometryObject given by its name exists.

Parameters:

name – [in] Name of the GeometryObject

Returns:

True if the GeometryObject exists in the geometryObjects.

void addCollisionPair(const CollisionPair &pair)

Add a collision pair into the vector of collision_pairs. The method check before if the given CollisionPair is already included.

Parameters:

pair – [in] The CollisionPair to add.

void addAllCollisionPairs()

Add all possible collision pairs.

Note

Collision pairs between geometries having the same parent joint are not added.

void setCollisionPairs(const MatrixXb &collision_map, const bool upper = true)

Set the collision pairs from a given input array. Each entry of the input matrix defines the activation of a given collision pair (map[i,j] == true means that the pair (i,j) is active).

Parameters:

• collision_map – [in] Associative array.

• upper – [in] Wheter the collision_map is an upper or lower triangular filled array.

void removeCollisionPair(const CollisionPair &pair)

Remove if exists the CollisionPair from the vector collision_pairs.

Parameters:

pair – [in] The CollisionPair to remove.

void removeAllCollisionPairs()

Remove all collision pairs from collisionPairs. Same as collisionPairs.clear().

bool existCollisionPair(const CollisionPair &pair) const

Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair).

Parameters:

pair – [in] The CollisionPair.

Returns:

True if the CollisionPair exists, false otherwise.

PairIndex findCollisionPair(const CollisionPair &pair) const

Return the index of a given collision pair in collisionPairs.

Parameters:

pair – [in] The CollisionPair.

Returns:

The index of the CollisionPair in collisionPairs.

inline bool operator==(const GeometryModel &other) const

Returns true if *this and other are equal.

inline bool operator!=(const GeometryModel &other) const

Returns true if *this and other are not equal.

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double Scalar

Index ngeoms

The number of GeometryObjects.

GeometryObjectVector geometryObjects

Vector of GeometryObjects used for collision computations.

CollisionPairVector collisionPairs

Vector of collision pairs.

Friends

friend std::ostream &operator<<(std::ostream &os, const GeometryModel &model_geom)