Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
CollisionDetector_impl Class Reference

#include <CollisionDetector_impl.h>

Inheritance diagram for CollisionDetector_impl:
Inheritance graph
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Classes

class  ColdetModelPairEx
 

Public Member Functions

virtual void addCollisionPair (const LinkPair &colPair)
 
 CollisionDetector_impl (CORBA_ORB_ptr orb)
 
virtual void destroy ()
 
virtual CORBA::Boolean queryContactDeterminationForDefinedPairs (const CharacterPositionSequence &characterPositions, CollisionSequence_out collisions)
 
virtual CORBA::Boolean queryContactDeterminationForGivenPairs (const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, CollisionSequence_out collisions)
 
virtual void queryDistanceForDefinedPairs (const CharacterPositionSequence &characterPositions, DistanceSequence_out distances)
 
virtual void queryDistanceForGivenPairs (const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, DistanceSequence_out distances)
 
virtual CORBA::Double queryDistanceWithRay (const DblArray3 point, const DblArray3 dir)
 
virtual CORBA::Boolean queryIntersectionForDefinedPairs (CORBA::Boolean checkAll, const CharacterPositionSequence &characterPositions, LinkPairSequence_out collidedPairs)
 
virtual CORBA::Boolean queryIntersectionForGivenPairs (CORBA::Boolean checkAll, const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, LinkPairSequence_out collidedPairs)
 
virtual void registerCharacter (const char *name, BodyInfo_ptr bodyInfo)
 
virtual DblSequence * scanDistanceWithRay (const DblArray3 p, const DblArray9 R, CORBA::Double step, CORBA::Double range)
 
 ~CollisionDetector_impl ()
 

Private Types

typedef intrusive_ptr< ColdetModelPairExColdetModelPairExPtr
 
typedef map< string, ColdetBodyPtrStringToColdetBodyMap
 

Private Member Functions

void addCollisionPairSub (const LinkPair &linkPair, vector< ColdetModelPairExPtr > &io_coldetPairs)
 
void computeDistances (vector< ColdetModelPairExPtr > &coldetPairs, DistanceSequence_out &out_distances)
 
bool detectAllCollisions (vector< ColdetModelPairExPtr > &coldetPairs, CollisionSequence_out &out_collisions)
 
bool detectCollidedLinkPairs (vector< ColdetModelPairExPtr > &coldetPairs, LinkPairSequence_out &out_collidedPairs, const bool checkAll)
 
bool detectCollisionsOfLinkPair (ColdetModelPairEx &coldetPair, CollisionPointSequence &out_collisionPoints, const bool addCollisionPoints)
 
bool detectIntersectingLinkPairs (vector< ColdetModelPairExPtr > &coldetPairs, LinkPairSequence_out &out_collidedPairs, const bool checkAll)
 
bool detectIntersectionOfLinkPair (ColdetModelPairExPtr &coldetPair)
 
void updateAllLinkPositions (const CharacterPositionSequence &characterPositions)
 

Private Attributes

StringToColdetBodyMap bodyInfoToColdetBodyMap
 
vector< ColdetModelPairExPtrcoldetModelPairs
 
StringToColdetBodyMap nameToColdetBodyMap
 
CORBA_ORB_var orb
 

Detailed Description

Definition at line 32 of file CollisionDetector_impl.h.

Member Typedef Documentation

Definition at line 116 of file CollisionDetector_impl.h.

Definition at line 96 of file CollisionDetector_impl.h.

Constructor & Destructor Documentation

CollisionDetector_impl::CollisionDetector_impl ( CORBA_ORB_ptr  orb)

Definition at line 27 of file CollisionDetector_impl.cpp.

CollisionDetector_impl::~CollisionDetector_impl ( )

Definition at line 34 of file CollisionDetector_impl.cpp.

Member Function Documentation

void CollisionDetector_impl::addCollisionPair ( const LinkPair &  colPair)
virtual

Definition at line 81 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::addCollisionPairSub ( const LinkPair &  linkPair,
vector< ColdetModelPairExPtr > &  io_coldetPairs 
)
private

Definition at line 88 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::computeDistances ( vector< ColdetModelPairExPtr > &  coldetPairs,
DistanceSequence_out &  out_distances 
)
private

Definition at line 421 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::destroy ( )
virtual

Definition at line 40 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectAllCollisions ( vector< ColdetModelPairExPtr > &  coldetPairs,
CollisionSequence_out &  out_collisions 
)
private

Definition at line 168 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectCollidedLinkPairs ( vector< ColdetModelPairExPtr > &  coldetPairs,
LinkPairSequence_out &  out_collidedPairs,
const bool  checkAll 
)
private

Definition at line 351 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectCollisionsOfLinkPair ( ColdetModelPairEx coldetPair,
CollisionPointSequence &  out_collisionPoints,
const bool  addCollisionPoints 
)
private

Definition at line 195 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectIntersectingLinkPairs ( vector< ColdetModelPairExPtr > &  coldetPairs,
LinkPairSequence_out &  out_collidedPairs,
const bool  checkAll 
)
private

Definition at line 387 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectIntersectionOfLinkPair ( ColdetModelPairExPtr coldetPair)
private
CORBA::Boolean CollisionDetector_impl::queryContactDeterminationForDefinedPairs ( const CharacterPositionSequence &  characterPositions,
CollisionSequence_out  collisions 
)
virtual

Definition at line 127 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryContactDeterminationForGivenPairs ( const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
CollisionSequence_out  collisions 
)
virtual

Definition at line 135 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::queryDistanceForDefinedPairs ( const CharacterPositionSequence &  characterPositions,
DistanceSequence_out  distances 
)
virtual

Definition at line 271 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::queryDistanceForGivenPairs ( const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
DistanceSequence_out  distances 
)
virtual

Definition at line 282 of file CollisionDetector_impl.cpp.

CORBA::Double CollisionDetector_impl::queryDistanceWithRay ( const DblArray3  point,
const DblArray3  dir 
)
virtual

Definition at line 301 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryIntersectionForDefinedPairs ( CORBA::Boolean  checkAll,
const CharacterPositionSequence &  characterPositions,
LinkPairSequence_out  collidedPairs 
)
virtual

Definition at line 238 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryIntersectionForGivenPairs ( CORBA::Boolean  checkAll,
const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
LinkPairSequence_out  collidedPairs 
)
virtual

Definition at line 250 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  bodyInfo 
)
virtual

Definition at line 48 of file CollisionDetector_impl.cpp.

DblSequence * CollisionDetector_impl::scanDistanceWithRay ( const DblArray3  p,
const DblArray9  R,
CORBA::Double  step,
CORBA::Double  range 
)
virtual

Definition at line 327 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::updateAllLinkPositions ( const CharacterPositionSequence &  characterPositions)
private

Definition at line 153 of file CollisionDetector_impl.cpp.

Member Data Documentation

StringToColdetBodyMap CollisionDetector_impl::bodyInfoToColdetBodyMap
private

Definition at line 99 of file CollisionDetector_impl.h.

vector<ColdetModelPairExPtr> CollisionDetector_impl::coldetModelPairs
private

Definition at line 118 of file CollisionDetector_impl.h.

StringToColdetBodyMap CollisionDetector_impl::nameToColdetBodyMap
private

Definition at line 101 of file CollisionDetector_impl.h.

CORBA_ORB_var CollisionDetector_impl::orb
private

Definition at line 94 of file CollisionDetector_impl.h.


The documentation for this class was generated from the following files:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:28