Public Types | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
hpp::fcl::SSaPCollisionManager Class Reference

Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for hpp::fcl::SSaPCollisionManager:
Inheritance graph
[legend]

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...
 
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...
 
 SSaPCollisionManager ()
 
void unregisterObject (CollisionObject *obj)
 add one object to the manager More...
 
virtual void update ()
 update the condition of manager More...
 
- 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 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

bool checkColl (typename std::vector< CollisionObject *>::const_iterator pos_start, typename std::vector< CollisionObject *>::const_iterator pos_end, CollisionObject *obj, CollisionCallBackBase *callback) const
 check collision between one object and a list of objects, return value is whether stop is possible More...
 
bool checkDis (typename std::vector< CollisionObject *>::const_iterator pos_start, typename std::vector< CollisionObject *>::const_iterator pos_end, CollisionObject *obj, DistanceCallBackBase *callback, FCL_REAL &min_dist) const
 check distance between one object and a list of objects, return value is whether stop is possible More...
 
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
 

Static Protected Member Functions

static int selectOptimalAxis (const std::vector< CollisionObject *> &objs_x, const std::vector< CollisionObject *> &objs_y, const std::vector< CollisionObject *> &objs_z, typename std::vector< CollisionObject *>::const_iterator &it_beg, typename std::vector< CollisionObject *>::const_iterator &it_end)
 

Protected Attributes

std::vector< CollisionObject * > objs_x
 Objects sorted according to lower x value. More...
 
std::vector< CollisionObject * > objs_y
 Objects sorted according to lower y value. More...
 
std::vector< CollisionObject * > objs_z
 Objects sorted according to lower z value. More...
 
bool setup_
 tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly 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

Simple SAP collision manager.

Definition at line 48 of file broadphase_SSaP.h.

Member Typedef Documentation

◆ Base

Definition at line 50 of file broadphase_SSaP.h.

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

hpp::fcl::SSaPCollisionManager::SSaPCollisionManager ( )

Definition at line 122 of file broadphase_SSaP.cpp.

Member Function Documentation

◆ checkColl()

bool hpp::fcl::SSaPCollisionManager::checkColl ( typename std::vector< CollisionObject *>::const_iterator  pos_start,
typename std::vector< CollisionObject *>::const_iterator  pos_end,
CollisionObject obj,
CollisionCallBackBase callback 
) const
protected

check collision between one object and a list of objects, return value is whether stop is possible

Definition at line 166 of file broadphase_SSaP.cpp.

◆ checkDis()

bool hpp::fcl::SSaPCollisionManager::checkDis ( typename std::vector< CollisionObject *>::const_iterator  pos_start,
typename std::vector< CollisionObject *>::const_iterator  pos_end,
CollisionObject obj,
DistanceCallBackBase callback,
FCL_REAL min_dist 
) const
protected

check distance between one object and a list of objects, return value is whether stop is possible

Definition at line 183 of file broadphase_SSaP.cpp.

◆ clear()

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

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 151 of file broadphase_SSaP.cpp.

◆ collide() [1/3]

void hpp::fcl::SSaPCollisionManager::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 202 of file broadphase_SSaP.cpp.

◆ collide() [2/3]

void hpp::fcl::SSaPCollisionManager::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 403 of file broadphase_SSaP.cpp.

◆ collide() [3/3]

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

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 464 of file broadphase_SSaP.cpp.

◆ collide_()

bool hpp::fcl::SSaPCollisionManager::collide_ ( CollisionObject obj,
CollisionCallBackBase callback 
) const
protected

Definition at line 211 of file broadphase_SSaP.cpp.

◆ distance() [1/3]

void hpp::fcl::SSaPCollisionManager::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 255 of file broadphase_SSaP.cpp.

◆ distance() [2/3]

void hpp::fcl::SSaPCollisionManager::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 450 of file broadphase_SSaP.cpp.

◆ distance() [3/3]

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

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 489 of file broadphase_SSaP.cpp.

◆ distance_()

bool hpp::fcl::SSaPCollisionManager::distance_ ( CollisionObject obj,
DistanceCallBackBase callback,
FCL_REAL min_dist 
) const
protected

Definition at line 265 of file broadphase_SSaP.cpp.

◆ empty()

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

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 515 of file broadphase_SSaP.cpp.

◆ getObjects()

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

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 159 of file broadphase_SSaP.cpp.

◆ registerObject()

void hpp::fcl::SSaPCollisionManager::registerObject ( CollisionObject obj)
virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 127 of file broadphase_SSaP.cpp.

◆ selectOptimalAxis()

int hpp::fcl::SSaPCollisionManager::selectOptimalAxis ( const std::vector< CollisionObject *> &  objs_x,
const std::vector< CollisionObject *> &  objs_y,
const std::vector< CollisionObject *> &  objs_z,
typename std::vector< CollisionObject *>::const_iterator &  it_beg,
typename std::vector< CollisionObject *>::const_iterator &  it_end 
)
staticprotected

simple sweep and prune method

Definition at line 364 of file broadphase_SSaP.cpp.

◆ setup()

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

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 135 of file broadphase_SSaP.cpp.

◆ size()

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

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 518 of file broadphase_SSaP.cpp.

◆ unregisterObject()

void hpp::fcl::SSaPCollisionManager::unregisterObject ( CollisionObject obj)
virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 79 of file broadphase_SSaP.cpp.

◆ update()

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

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 145 of file broadphase_SSaP.cpp.

Member Data Documentation

◆ objs_x

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_x
protected

Objects sorted according to lower x value.

Definition at line 132 of file broadphase_SSaP.h.

◆ objs_y

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_y
protected

Objects sorted according to lower y value.

Definition at line 135 of file broadphase_SSaP.h.

◆ objs_z

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_z
protected

Objects sorted according to lower z value.

Definition at line 138 of file broadphase_SSaP.h.

◆ setup_

bool hpp::fcl::SSaPCollisionManager::setup_
protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Definition at line 142 of file broadphase_SSaP.h.


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


hpp-fcl
Author(s):
autogenerated on Fri Jun 2 2023 02:39:03