Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects. More...

#include <broadphase_collision_manager.h>

Inheritance diagram for hpp::fcl::BroadPhaseCollisionManager:

[legend]

Public Member Functions
	BroadPhaseCollisionManager ()

virtual void	clear ()=0
	clear the manager More...

virtual void	collide (CollisionObject obj, CollisionCallBackBase callback) const =0
	perform collision test between one object and all the objects belonging to the manager More...

virtual void	collide (CollisionCallBackBase *callback) const =0
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

virtual void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const =0
	perform collision test with objects belonging to another manager More...

virtual void	distance (CollisionObject obj, DistanceCallBackBase callback) const =0
	perform distance computation between one object and all the objects belonging to the manager More...

virtual void	distance (DistanceCallBackBase *callback) const =0
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

virtual void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const =0
	perform distance test with objects belonging to another manager More...

virtual bool	empty () const =0
	whether the manager is empty More...

virtual void	getObjects (std::vector< CollisionObject *> &objs) const =0
	return the objects managed by the manager More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

virtual void	registerObject (CollisionObject *obj)=0
	add one object to the manager More...

virtual void	registerObjects (const std::vector< CollisionObject *> &other_objs)
	add objects to the manager More...

virtual void	setup ()=0
	initialize the manager, related with the specific type of manager More...

virtual size_t	size () const =0
	the number of objects managed by the manager More...

virtual void	unregisterObject (CollisionObject *obj)=0
	remove one object from the manager More...

virtual void	update ()=0
	update the condition of manager More...

virtual void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

virtual void	update (const std::vector< CollisionObject *> &updated_objs)
	update the manager by explicitly given the set of objects update More...

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
bool	enable_tested_set_

std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

Base class for broad phase collision. It helps to accelerate the collision/distance between N objects. Also support self collision, self distance and collision/distance with another M objects.

Definition at line 54 of file broadphase_collision_manager.h.

Constructor & Destructor Documentation

◆ BroadPhaseCollisionManager()

hpp::fcl::BroadPhaseCollisionManager::BroadPhaseCollisionManager ( )

Definition at line 44 of file broadphase_collision_manager.cpp.

◆ ~BroadPhaseCollisionManager()

hpp::fcl::BroadPhaseCollisionManager::~BroadPhaseCollisionManager ( )

virtual

Definition at line 50 of file broadphase_collision_manager.cpp.

Member Function Documentation

◆ clear()

virtual void hpp::fcl::BroadPhaseCollisionManager::clear ( )

pure virtual

clear the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ collide() [1/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

pure virtual

perform collision test between one object and all the objects belonging to the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ collide() [2/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::collide ( CollisionCallBackBase * callback ) const

pure virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ collide() [3/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

pure virtual

perform collision test with objects belonging to another manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ distance() [1/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

pure virtual

perform distance computation between one object and all the objects belonging to the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ distance() [2/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::distance ( DistanceCallBackBase * callback ) const

pure virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ distance() [3/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

pure virtual

perform distance test with objects belonging to another manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ empty()

virtual bool hpp::fcl::BroadPhaseCollisionManager::empty ( ) const

pure virtual

whether the manager is empty

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ getObjects() [1/2]

virtual void hpp::fcl::BroadPhaseCollisionManager::getObjects ( std::vector< CollisionObject *> & objs ) const

pure virtual

return the objects managed by the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ getObjects() [2/2]

virtual std::vector<CollisionObject*> hpp::fcl::BroadPhaseCollisionManager::getObjects ( ) const

inlinevirtual

return the objects managed by the manager

Reimplemented in hpp::fcl::BroadPhaseCollisionManagerWrapper.

Definition at line 88 of file broadphase_collision_manager.h.

◆ insertTestedSet()

void hpp::fcl::BroadPhaseCollisionManager::insertTestedSet	(	CollisionObject *	a,
		CollisionObject *	b
	)		const

protected

Definition at line 85 of file broadphase_collision_manager.cpp.

◆ inTestedSet()

bool hpp::fcl::BroadPhaseCollisionManager::inTestedSet	(	CollisionObject *	a,
		CollisionObject *	b
	)		const

protected

Definition at line 76 of file broadphase_collision_manager.cpp.

◆ registerObject()

virtual void hpp::fcl::BroadPhaseCollisionManager::registerObject ( CollisionObject * obj )

pure virtual

add one object to the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ registerObjects()

void hpp::fcl::BroadPhaseCollisionManager::registerObjects ( const std::vector< CollisionObject *> & other_objs )

virtual

add objects to the manager

Reimplemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, and hpp::fcl::NaiveCollisionManager.

Definition at line 55 of file broadphase_collision_manager.cpp.

◆ setup()

virtual void hpp::fcl::BroadPhaseCollisionManager::setup ( )

pure virtual

initialize the manager, related with the specific type of manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ size()

virtual size_t hpp::fcl::BroadPhaseCollisionManager::size ( ) const

pure virtual

the number of objects managed by the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ unregisterObject()

virtual void hpp::fcl::BroadPhaseCollisionManager::unregisterObject ( CollisionObject * obj )

pure virtual

remove one object from the manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ update() [1/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::update ( )

pure virtual

update the condition of manager

Implemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::BroadPhaseCollisionManagerWrapper, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, hpp::fcl::NaiveCollisionManager, and hpp::fcl::SSaPCollisionManager.

◆ update() [2/3]

void hpp::fcl::BroadPhaseCollisionManager::update ( CollisionObject * updated_obj )

virtual

update the manager by explicitly given the object updated

Reimplemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::BroadPhaseCollisionManagerWrapper, and hpp::fcl::IntervalTreeCollisionManager.

Definition at line 61 of file broadphase_collision_manager.cpp.

◆ update() [3/3]

void hpp::fcl::BroadPhaseCollisionManager::update ( const std::vector< CollisionObject *> & updated_objs )

virtual

update the manager by explicitly given the set of objects update

Reimplemented in hpp::fcl::DynamicAABBTreeCollisionManager, hpp::fcl::DynamicAABBTreeArrayCollisionManager, hpp::fcl::SpatialHashingCollisionManager< HashTable >, hpp::fcl::SaPCollisionManager, hpp::fcl::IntervalTreeCollisionManager, and hpp::fcl::BroadPhaseCollisionManagerWrapper.

Definition at line 68 of file broadphase_collision_manager.cpp.

Member Data Documentation

◆ enable_tested_set_

bool hpp::fcl::BroadPhaseCollisionManager::enable_tested_set_

mutableprotected

Definition at line 131 of file broadphase_collision_manager.h.

◆ tested_set

std::set<std::pair<CollisionObject*, CollisionObject*> > hpp::fcl::BroadPhaseCollisionManager::tested_set

mutableprotected

tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms.

Definition at line 130 of file broadphase_collision_manager.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BroadPhaseCollisionManager()

◆ ~BroadPhaseCollisionManager()

Member Function Documentation

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ empty()

◆ getObjects() [1/2]

◆ getObjects() [2/2]

◆ insertTestedSet()

◆ inTestedSet()

◆ registerObject()

◆ registerObjects()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ enable_tested_set_

◆ tested_set