Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for hpp::fcl::IntervalTreeCollisionManager:

Classes
struct	EndPoint
	SAP end point. More...

struct	SAPInterval
	Extention interval tree's interval to SAP interval, adding more information. More...

Public Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
void	clear ()
	clear the manager More...

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

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

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

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

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

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

bool	empty () const
	whether the manager is empty More...

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

	IntervalTreeCollisionManager ()

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

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

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

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

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

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

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

	~IntervalTreeCollisionManager ()

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

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

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

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
bool	checkColl (typename std::deque< detail::SimpleInterval >::const_iterator pos_start, typename std::deque< detail::SimpleInterval >::const_iterator pos_end, CollisionObject obj, CollisionCallBackBase callback) const

bool	checkDist (typename std::deque< detail::SimpleInterval >::const_iterator pos_start, typename std::deque< detail::SimpleInterval >::const_iterator pos_end, CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const

Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Protected Attributes
std::vector< EndPoint >	endpoints [3]
	vector stores all the end points More...

detail::IntervalTree *	interval_trees [3]
	interval tree manages the intervals More...

std::map< CollisionObject , SAPInterval >	obj_interval_maps [3]

bool	setup_
	tag for whether the interval tree is maintained suitably More...

Protected Attributes inherited from hpp::fcl::BroadPhaseCollisionManager
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

Collision manager based on interval tree.

Definition at line 51 of file broadphase_interval_tree.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::IntervalTreeCollisionManager::Base

Definition at line 54 of file broadphase_interval_tree.h.

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

hpp::fcl::IntervalTreeCollisionManager::IntervalTreeCollisionManager ( )

Definition at line 139 of file broadphase_interval_tree.cpp.

◆ ~IntervalTreeCollisionManager()

hpp::fcl::IntervalTreeCollisionManager::~IntervalTreeCollisionManager ( )

Definition at line 144 of file broadphase_interval_tree.cpp.

Member Function Documentation

◆ checkColl()

bool hpp::fcl::IntervalTreeCollisionManager::checkColl	(	typename std::deque< detail::SimpleInterval *>::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval *>::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 584 of file broadphase_interval_tree.cpp.

◆ checkDist()

bool hpp::fcl::IntervalTreeCollisionManager::checkDist	(	typename std::deque< detail::SimpleInterval *>::const_iterator	pos_start,
		typename std::deque< detail::SimpleInterval *>::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

Definition at line 603 of file broadphase_interval_tree.cpp.

◆ clear()

void hpp::fcl::IntervalTreeCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 281 of file broadphase_interval_tree.cpp.

◆ collide() [1/3]

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

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 320 of file broadphase_interval_tree.cpp.

◆ collide() [2/3]

void hpp::fcl::IntervalTreeCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 451 of file broadphase_interval_tree.cpp.

◆ collide() [3/3]

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

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 522 of file broadphase_interval_tree.cpp.

◆ collide_()

bool hpp::fcl::IntervalTreeCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 328 of file broadphase_interval_tree.cpp.

◆ distance() [1/3]

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

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 362 of file broadphase_interval_tree.cpp.

◆ distance() [2/3]

void hpp::fcl::IntervalTreeCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 505 of file broadphase_interval_tree.cpp.

◆ distance() [3/3]

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

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 546 of file broadphase_interval_tree.cpp.

◆ distance_()

bool hpp::fcl::IntervalTreeCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

Definition at line 371 of file broadphase_interval_tree.cpp.

◆ empty()

bool hpp::fcl::IntervalTreeCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 574 of file broadphase_interval_tree.cpp.

◆ getObjects()

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

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 307 of file broadphase_interval_tree.cpp.

◆ registerObject()

void hpp::fcl::IntervalTreeCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 147 of file broadphase_interval_tree.cpp.

◆ setup()

void hpp::fcl::IntervalTreeCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 172 of file broadphase_interval_tree.cpp.

◆ size()

size_t hpp::fcl::IntervalTreeCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 579 of file broadphase_interval_tree.cpp.

◆ unregisterObject()

void hpp::fcl::IntervalTreeCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 44 of file broadphase_interval_tree.cpp.

◆ update() [1/3]

void hpp::fcl::IntervalTreeCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 208 of file broadphase_interval_tree.cpp.

◆ update() [2/3]

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

virtual

update the manager by explicitly given the object updated

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 236 of file broadphase_interval_tree.cpp.

◆ update() [3/3]

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

virtual

update the manager by explicitly given the set of objects update

Reimplemented from hpp::fcl::BroadPhaseCollisionManager.

Definition at line 275 of file broadphase_interval_tree.cpp.

Member Data Documentation

◆ endpoints

std::vector<EndPoint> hpp::fcl::IntervalTreeCollisionManager::endpoints[3]

protected

vector stores all the end points

Definition at line 157 of file broadphase_interval_tree.h.

◆ interval_trees

detail::IntervalTree* hpp::fcl::IntervalTreeCollisionManager::interval_trees[3]

protected

interval tree manages the intervals

Definition at line 160 of file broadphase_interval_tree.h.

◆ obj_interval_maps

std::map<CollisionObject*, SAPInterval*> hpp::fcl::IntervalTreeCollisionManager::obj_interval_maps[3]

protected

Definition at line 162 of file broadphase_interval_tree.h.

◆ setup_

bool hpp::fcl::IntervalTreeCollisionManager::setup_

protected

tag for whether the interval tree is maintained suitably

Definition at line 165 of file broadphase_interval_tree.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

◆ ~IntervalTreeCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDist()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update() [1/3]

◆ update() [2/3]

◆ update() [3/3]

Member Data Documentation

◆ endpoints

◆ interval_trees

◆ obj_interval_maps

◆ setup_