#include <geometry.hpp>

Public Types
enum	{ Options = 0 }

typedef std::vector< CollisionPair >	CollisionPairVector

typedef ::pinocchio::GeometryObject	GeometryObject

typedef pinocchio::GeomIndex	GeomIndex

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

typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
void	addAllCollisionPairs ()
	Add all possible collision pairs. More...

void	addCollisionPair (const CollisionPair &pair)
	Add a collision pair into the vector of collision_pairs. The method check before if the given CollisionPair is already included. More...

template<typename S2 , int O2, template< typename, int > class _JointCollectionTpl>
GeomIndex	addGeometryObject (const GeometryObject &object, const ModelTpl< S2, O2, _JointCollectionTpl > &model)
	Add a geometry object to a GeometryModel and set its parent joint. More...

GeomIndex	addGeometryObject (const GeometryObject &object)
	Add a geometry object to a GeometryModel. More...

bool	existCollisionPair (const CollisionPair &pair) const
	Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair). More...

bool	existGeometryName (const std::string &name) const
	Check if a GeometryObject given by its name exists. More...

PairIndex	findCollisionPair (const CollisionPair &pair) const
	Return the index of a given collision pair in collisionPairs. More...

	GeometryModel ()

GeomIndex	getGeometryId (const std::string &name) const
	Return the index of a GeometryObject given by its name. More...

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

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

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (GeometryObject) GeometryObjectVector

void	removeAllCollisionPairs ()
	Remove all collision pairs from collisionPairs. Same as collisionPairs.clear(). More...

void	removeCollisionPair (const CollisionPair &pair)
	Remove if exists the CollisionPair from the vector collision_pairs. More...

void	removeGeometryObject (const std::string &name)
	Remove a GeometryObject. More...

void	setCollisionPairs (const MatrixXb &collision_map, const bool upper=true)
	Set the collision pairs from a given input array. Each entry of the input matrix defines the activation of a given collision pair (map[i,j] == true means that the pair (i,j) is active). More...

	~GeometryModel ()

Public Attributes
CollisionPairVector	collisionPairs
	Vector of collision pairs. More...

GeometryObjectVector	geometryObjects
	Vector of GeometryObjects used for collision computations. More...

Index	ngeoms
	The number of GeometryObjects. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	Scalar

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryModel &model_geom)

Detailed Description

Definition at line 22 of file src/multibody/geometry.hpp.

Member Typedef Documentation

◆ CollisionPairVector

typedef std::vector<CollisionPair> pinocchio::GeometryModel::CollisionPairVector

Definition at line 33 of file src/multibody/geometry.hpp.

◆ GeometryObject

typedef ::pinocchio::GeometryObject pinocchio::GeometryModel::GeometryObject

Definition at line 31 of file src/multibody/geometry.hpp.

◆ GeomIndex

typedef pinocchio::GeomIndex pinocchio::GeometryModel::GeomIndex

Definition at line 36 of file src/multibody/geometry.hpp.

◆ MatrixXb

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

Definition at line 34 of file src/multibody/geometry.hpp.

◆ SE3

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

Definition at line 29 of file src/multibody/geometry.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
Options

Definition at line 27 of file src/multibody/geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryModel()

pinocchio::GeometryModel::GeometryModel ( )

inline

Definition at line 38 of file src/multibody/geometry.hpp.

◆ ~GeometryModel()

pinocchio::GeometryModel::~GeometryModel ( )

inline

Definition at line 44 of file src/multibody/geometry.hpp.

Member Function Documentation

◆ addAllCollisionPairs()

void pinocchio::GeometryModel::addAllCollisionPairs ( )

Add all possible collision pairs.

Note: Collision pairs between geometries having the same parent joint are not added.

◆ addCollisionPair()

void pinocchio::GeometryModel::addCollisionPair ( const CollisionPair & pair )

Add a collision pair into the vector of collision_pairs. The method check before if the given CollisionPair is already included.

Parameters

[in] pair The CollisionPair to add.

◆ addGeometryObject() [1/2]

template<typename S2 , int O2, template< typename, int > class _JointCollectionTpl>

GeomIndex pinocchio::GeometryModel::addGeometryObject	(	const GeometryObject &	object,
		const ModelTpl< S2, O2, _JointCollectionTpl > &	model
	)

Add a geometry object to a GeometryModel and set its parent joint.

Parameters

[in]	object	Object
[in]	model	Corresponding model, used to assert the attributes of object.

Returns: The index of the new added GeometryObject in geometryObjects

Note: object is a nonconst copy to ease the insertion code.

◆ addGeometryObject() [2/2]

GeomIndex pinocchio::GeometryModel::addGeometryObject ( const GeometryObject & object )

Add a geometry object to a GeometryModel.

Parameters

[in] object Object

Returns: The index of the new added GeometryObject in geometryObjects.

◆ existCollisionPair()

bool pinocchio::GeometryModel::existCollisionPair ( const CollisionPair & pair ) const

Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair).

Parameters

[in] pair The CollisionPair.

Returns: True if the CollisionPair exists, false otherwise.

◆ existGeometryName()

bool pinocchio::GeometryModel::existGeometryName ( const std::string & name ) const

Check if a GeometryObject given by its name exists.

Parameters

[in] name Name of the GeometryObject

Returns: True if the GeometryObject exists in the geometryObjects.

◆ findCollisionPair()

PairIndex pinocchio::GeometryModel::findCollisionPair ( const CollisionPair & pair ) const

Return the index of a given collision pair in collisionPairs.

Parameters

[in] pair The CollisionPair.

Returns: The index of the CollisionPair in collisionPairs.

◆ getGeometryId()

GeomIndex pinocchio::GeometryModel::getGeometryId ( const std::string & name ) const

Return the index of a GeometryObject given by its name.

Parameters

[in] name Name of the GeometryObject

Returns: Index of the corresponding GeometryObject

◆ operator!=()

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

inline

Returns true if *this and other are not equal.

Definition at line 168 of file src/multibody/geometry.hpp.

◆ operator==()

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

inline

Returns true if *this and other are equal.

Definition at line 156 of file src/multibody/geometry.hpp.

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

typedef pinocchio::GeometryModel::PINOCCHIO_ALIGNED_STD_VECTOR ( GeometryObject )

◆ removeAllCollisionPairs()

void pinocchio::GeometryModel::removeAllCollisionPairs ( )

Remove all collision pairs from collisionPairs. Same as collisionPairs.clear().

◆ removeCollisionPair()

void pinocchio::GeometryModel::removeCollisionPair ( const CollisionPair & pair )

Remove if exists the CollisionPair from the vector collision_pairs.

Parameters

[in] pair The CollisionPair to remove.

◆ removeGeometryObject()

void pinocchio::GeometryModel::removeGeometryObject ( const std::string & name )

Remove a GeometryObject.

Parameters

[in] name Name of the GeometryObject

Remove also the collision pairs that contain the object.

◆ setCollisionPairs()

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

Set the collision pairs from a given input array. Each entry of the input matrix defines the activation of a given collision pair (map[i,j] == true means that the pair (i,j) is active).

Parameters

[in]	collision_map	Associative array.
[in]	upper	Wheter the collision_map is an upper or lower triangular filled array.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const GeometryModel &	model_geom
	)

friend

Member Data Documentation

◆ collisionPairs

CollisionPairVector pinocchio::GeometryModel::collisionPairs

Vector of collision pairs.

Definition at line 183 of file src/multibody/geometry.hpp.

◆ geometryObjects

GeometryObjectVector pinocchio::GeometryModel::geometryObjects

Vector of GeometryObjects used for collision computations.

Definition at line 180 of file src/multibody/geometry.hpp.

◆ ngeoms

Index pinocchio::GeometryModel::ngeoms

The number of GeometryObjects.

Definition at line 177 of file src/multibody/geometry.hpp.

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double pinocchio::GeometryModel::Scalar

Definition at line 26 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

◆ CollisionPairVector

◆ GeometryObject

◆ GeomIndex

◆ MatrixXb

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ GeometryModel()

◆ ~GeometryModel()

Member Function Documentation

◆ addAllCollisionPairs()

◆ addCollisionPair()

◆ addGeometryObject() [1/2]

◆ addGeometryObject() [2/2]

◆ existCollisionPair()

◆ existGeometryName()

◆ findCollisionPair()

◆ getGeometryId()

◆ operator!=()

◆ operator==()

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

◆ removeAllCollisionPairs()

◆ removeCollisionPair()

◆ removeGeometryObject()

◆ setCollisionPairs()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ collisionPairs

◆ geometryObjects

◆ ngeoms

◆ Scalar