#include <geometry.hpp>

Inheritance diagram for pinocchio::GeometryData:

Public Types
enum	{ Options = 0 }

typedef std::vector< GeomIndex >	GeomIndexList

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

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs

typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
void	activateAllCollisionPairs ()
	Activate all collision pairs. More...

void	activateCollisionPair (const PairIndex pair_id)

void	deactivateAllCollisionPairs ()
	Deactivate all collision pairs. More...

void	deactivateCollisionPair (const PairIndex pair_id)

void	fillInnerOuterObjectMaps (const GeometryModel &geomModel)

	GeometryData (const GeometryModel &geom_model)
	Default constructor from a GeometryModel. More...

	GeometryData (const GeometryData &other)
	Copy constructor. More...

	GeometryData ()
	Empty constructor. More...

bool	operator!= (const GeometryData &other) const
	Returns true if *this and other are not equal. More...

GeometryData &	operator= (const GeometryData &other)
	Copy operator. More...

bool	operator== (const GeometryData &other) const
	Returns true if *this and other are equal. More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMg
	Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements. More...

void	setActiveCollisionPairs (const GeometryModel &geom_model, const MatrixXb &collision_map, const bool upper=true)
	Set the collision pair association from a given input array. Each entry of the input matrix defines the activation of a given collision pair. More...

void	setGeometryCollisionStatus (const GeometryModel &geom_model, const GeomIndex geom_id, bool enable_collision)
	Enable or disable collision for the given geometry given by its geometry id with all the other geometries registered in the list of collision pairs. More...

	~GeometryData ()
	Destructor. More...

Public Member Functions inherited from pinocchio::serialization::Serializable< GeometryData >
void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file. More...

void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container. More...

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container. More...

void	loadFromString (const std::string &str)
	Loads a Derived object from a string. More...

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string. More...

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file. More...

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file. More...

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file. More...

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container. More...

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container. More...

std::string	saveToString () const
	Saves a Derived object to a string. More...

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream. More...

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file. More...

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file. More...

Public Attributes
std::vector< bool >	activeCollisionPairs
	Vector of collision pairs. More...

std::map< JointIndex, GeomIndexList >	innerObjects
	Map over vector GeomModel::geometryObjects, indexed by joints. More...

std::map< JointIndex, GeomIndexList >	outerObjects
	A list of associated collision GeometryObjects to a given joint Id. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	Scalar

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryData &geomData)

Detailed Description

Definition at line 187 of file src/multibody/geometry.hpp.

Member Typedef Documentation

◆ GeomIndexList

typedef std::vector<GeomIndex> pinocchio::GeometryData::GeomIndexList

Definition at line 196 of file src/multibody/geometry.hpp.

◆ MatrixXb

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

Definition at line 197 of file src/multibody/geometry.hpp.

◆ MatrixXs

typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> pinocchio::GeometryData::MatrixXs

Definition at line 198 of file src/multibody/geometry.hpp.

◆ SE3

typedef SE3Tpl<Scalar,Options> pinocchio::GeometryData::SE3

Definition at line 195 of file src/multibody/geometry.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
Options

Definition at line 193 of file src/multibody/geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryData() [1/3]

pinocchio::GeometryData::GeometryData ( const GeometryModel & geom_model )

explicit

Default constructor from a GeometryModel.

Parameters

[in] geom_model GeometryModel associated to the new GeometryData

◆ GeometryData() [2/3]

pinocchio::GeometryData::GeometryData ( const GeometryData & other )

Copy constructor.

Parameters

[in] other GeometryData to copy

◆ GeometryData() [3/3]

pinocchio::GeometryData::GeometryData ( )

inline

Empty constructor.

Definition at line 297 of file src/multibody/geometry.hpp.

◆ ~GeometryData()

pinocchio::GeometryData::~GeometryData ( )

Destructor.

Member Function Documentation

◆ activateAllCollisionPairs()

void pinocchio::GeometryData::activateAllCollisionPairs ( )

Activate all collision pairs.

See also: GeomData::deactivateAllCollisionPairs, GeomData::activateCollisionPair, GeomData::deactivateCollisionPair

◆ activateCollisionPair()

void pinocchio::GeometryData::activateCollisionPair ( const PairIndex pair_id )

Activate a collision pair, for which collisions and distances would now be computed.

The collision (resp distance) between two geometries of GeomModel::geometryObjects is computed iff the corresponding pair has been added in GeomModel::collisionPairs AND it is active, i.e. the corresponding boolean in GeomData::activePairs is true. The second condition can be used to temporarily remove a pair without touching the model, in a versatile manner.

Parameters

[in] pair_id the index of the pair in GeomModel::collisionPairs vector.

See also: GeomData

◆ deactivateAllCollisionPairs()

void pinocchio::GeometryData::deactivateAllCollisionPairs ( )

Deactivate all collision pairs.

See also: GeomData::activateAllCollisionPairs, GeomData::activateCollisionPair, GeomData::deactivateCollisionPair

◆ deactivateCollisionPair()

void pinocchio::GeometryData::deactivateCollisionPair ( const PairIndex pair_id )

Deactivate a collision pair.

Calls indeed GeomData::activateCollisionPair(pair_id)

Parameters

[in] pair_id the index of the pair in GeomModel::collisionPairs vector.

See also: GeomData::activateCollisionPair

◆ fillInnerOuterObjectMaps()

void pinocchio::GeometryData::fillInnerOuterObjectMaps ( const GeometryModel & geomModel )

Fill both innerObjects and outerObjects maps, from vectors collisionObjects and collisionPairs.

This simply corresponds to storing in a re-arranged manner the information stored in geomModel.geometryObjects and geomModel.collisionPairs.

Parameters

[in] geomModel the geometry model (const)

Warning: Outer objects are not duplicated (i.e. if a is in outerObjects[b], then b is not in outerObjects[a]).

◆ operator!=()

bool pinocchio::GeometryData::operator!= ( const GeometryData & other ) const

inline

Returns true if *this and other are not equal.

Definition at line 415 of file src/multibody/geometry.hpp.

◆ operator=()

GeometryData& pinocchio::GeometryData::operator= ( const GeometryData & other )

Copy operator.

Parameters

[in] other GeometryData to copy

◆ operator==()

bool pinocchio::GeometryData::operator== ( const GeometryData & other ) const

inline

Returns true if *this and other are equal.

Definition at line 394 of file src/multibody/geometry.hpp.

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

pinocchio::GeometryData::PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements.

oMg is used for pinocchio (kinematics) computation but is translated to fcl type for fcl (collision) computation. The copy is done in collisionObjects[i]->setTransform(.)

◆ setActiveCollisionPairs()

void pinocchio::GeometryData::setActiveCollisionPairs	(	const GeometryModel &	geom_model,
		const MatrixXb &	collision_map,
		const bool	upper = `true`
	)

Set the collision pair association from a given input array. Each entry of the input matrix defines the activation of a given collision pair.

Parameters

[in]	geom_model	Geometry model associated to the data.
[in]	collision_map	Associative array.
[in]	upper	Wheter the collision_map is an upper or lower triangular filled array.

◆ setGeometryCollisionStatus()

void pinocchio::GeometryData::setGeometryCollisionStatus	(	const GeometryModel &	geom_model,
		const GeomIndex	geom_id,
		bool	enable_collision
	)

Enable or disable collision for the given geometry given by its geometry id with all the other geometries registered in the list of collision pairs.

Parameters

[in]	geom_model	Geometry model associated to the data.
[in]	geom_id	Index of the geometry.
[in]	enable_collision	If true, the collision will be enable, otherwise disable.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const GeometryData &	geomData
	)

friend

Member Data Documentation

◆ activeCollisionPairs

std::vector<bool> pinocchio::GeometryData::activeCollisionPairs

Vector of collision pairs.

Definition at line 217 of file src/multibody/geometry.hpp.

◆ innerObjects

std::map<JointIndex,GeomIndexList> pinocchio::GeometryData::innerObjects

Map over vector GeomModel::geometryObjects, indexed by joints.

The map lists the collision GeometryObjects associated to a given joint Id. Inner objects can be seen as geometry objects that directly move when the associated joint moves

Definition at line 267 of file src/multibody/geometry.hpp.

◆ outerObjects

std::map<JointIndex,GeomIndexList> pinocchio::GeometryData::outerObjects

A list of associated collision GeometryObjects to a given joint Id.

Outer objects can be seen as geometry objects that may often be obstacles to the Inner objects of a given joint

Definition at line 273 of file src/multibody/geometry.hpp.

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double pinocchio::GeometryData::Scalar

Definition at line 192 of file src/multibody/geometry.hpp.

The documentation for this struct was generated from the following file:

src/multibody/geometry.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ GeomIndexList

◆ MatrixXb

◆ MatrixXs

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ GeometryData() [1/3]

◆ GeometryData() [2/3]

◆ GeometryData() [3/3]

◆ ~GeometryData()

Member Function Documentation

◆ activateAllCollisionPairs()

◆ activateCollisionPair()

◆ deactivateAllCollisionPairs()

◆ deactivateCollisionPair()

◆ fillInnerOuterObjectMaps()

◆ operator!=()

◆ operator=()

◆ operator==()

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

◆ setActiveCollisionPairs()

◆ setGeometryCollisionStatus()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ activeCollisionPairs

◆ innerObjects

◆ outerObjects

◆ Scalar