Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
fcl::IntervalTreeCollisionManager< S > Class Template Reference

Collision manager based on interval tree. More...

#include <broadphase_interval_tree.h>

Inheritance diagram for fcl::IntervalTreeCollisionManager< S >:
Inheritance graph
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Public Member Functions

void clear ()
 clear the manager More...
 
void collide (BroadPhaseCollisionManager< S > *other_manager, void *cdata, CollisionCallBack< S > callback) const
 perform collision test with objects belonging to another manager More...
 
void collide (CollisionObject< S > *obj, void *cdata, CollisionCallBack< S > callback) const
 perform collision test between one object and all the objects belonging to the manager More...
 
void collide (void *cdata, CollisionCallBack< S > callback) const
 perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...
 
void distance (BroadPhaseCollisionManager< S > *other_manager, void *cdata, DistanceCallBack< S > callback) const
 perform distance test with objects belonging to another manager More...
 
void distance (CollisionObject< S > *obj, void *cdata, DistanceCallBack< S > callback) const
 perform distance computation between one object and all the objects belonging to the manager More...
 
void distance (void *cdata, DistanceCallBack< S > callback) const
 perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...
 
bool empty () const
 whether the manager is empty More...
 
void getObjects (std::vector< CollisionObject< S > * > &objs) const
 return the objects managed by the manager More...
 
 IntervalTreeCollisionManager ()
 
void registerObject (CollisionObject< S > *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< S > *obj)
 add one object to the manager More...
 
void update ()
 update the condition of manager More...
 
void update (CollisionObject< S > *updated_obj)
 update the manager by explicitly given the object updated More...
 
void update (const std::vector< CollisionObject< S > * > &updated_objs)
 update the manager by explicitly given the set of objects update More...
 
 ~IntervalTreeCollisionManager ()
 
- Public Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
 BroadPhaseCollisionManager ()
 
virtual void registerObjects (const std::vector< CollisionObject< S > * > &other_objs)
 add objects to the manager More...
 
virtual ~BroadPhaseCollisionManager ()
 

Protected Member Functions

bool checkColl (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > *obj, void *cdata, CollisionCallBack< S > callback) const
 
bool checkDist (typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_start, typename std::deque< detail::SimpleInterval< S > * >::const_iterator pos_end, CollisionObject< S > *obj, void *cdata, DistanceCallBack< S > callback, S &min_dist) const
 
bool collide_ (CollisionObject< S > *obj, void *cdata, CollisionCallBack< S > callback) const
 
bool distance_ (CollisionObject< S > *obj, void *cdata, DistanceCallBack< S > callback, S &min_dist) const
 
- Protected Member Functions inherited from fcl::BroadPhaseCollisionManager< S >
void insertTestedSet (CollisionObject< S > *a, CollisionObject< S > *b) const
 
bool inTestedSet (CollisionObject< S > *a, CollisionObject< S > *b) const
 

Protected Attributes

std::vector< EndPoint > endpoints [3]
 vector stores all the end points More...
 
detail::IntervalTree< S > * interval_trees [3]
 interval tree manages the intervals More...
 
std::map< CollisionObject< S > *, SAPInterval * > obj_interval_maps [3]
 
bool setup_
 tag for whether the interval tree is maintained suitably More...
 
- Protected Attributes inherited from fcl::BroadPhaseCollisionManager< S >
bool enable_tested_set_
 
std::set< std::pair< CollisionObject< S > *, CollisionObject< S > * > > 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

template<typename S>
class fcl::IntervalTreeCollisionManager< S >

Collision manager based on interval tree.

Definition at line 51 of file broadphase_interval_tree.h.

Constructor & Destructor Documentation

◆ IntervalTreeCollisionManager()

◆ ~IntervalTreeCollisionManager()

Member Function Documentation

◆ checkColl()

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::checkColl ( typename std::deque< detail::SimpleInterval< S > * >::const_iterator  pos_start,
typename std::deque< detail::SimpleInterval< S > * >::const_iterator  pos_end,
CollisionObject< S > *  obj,
void *  cdata,
CollisionCallBack< S >  callback 
) const
protected

◆ checkDist()

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::checkDist ( typename std::deque< detail::SimpleInterval< S > * >::const_iterator  pos_start,
typename std::deque< detail::SimpleInterval< S > * >::const_iterator  pos_end,
CollisionObject< S > *  obj,
void *  cdata,
DistanceCallBack< S >  callback,
S &  min_dist 
) const
protected

◆ clear()

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::clear ( )
virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [1/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::collide ( BroadPhaseCollisionManager< S > *  other_manager,
void *  cdata,
CollisionCallBack< S >  callback 
) const
virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [2/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::collide ( CollisionObject< S > *  obj,
void *  cdata,
CollisionCallBack< S >  callback 
) const
virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide() [3/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::collide ( void *  cdata,
CollisionCallBack< S >  callback 
) const
virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

◆ collide_()

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::collide_ ( CollisionObject< S > *  obj,
void *  cdata,
CollisionCallBack< S >  callback 
) const
protected

◆ distance() [1/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::distance ( BroadPhaseCollisionManager< S > *  other_manager,
void *  cdata,
DistanceCallBack< S >  callback 
) const
virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance() [2/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::distance ( CollisionObject< S > *  obj,
void *  cdata,
DistanceCallBack< S >  callback 
) const
virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance() [3/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::distance ( void *  cdata,
DistanceCallBack< S >  callback 
) const
virtual

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

Implements fcl::BroadPhaseCollisionManager< S >.

◆ distance_()

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::distance_ ( CollisionObject< S > *  obj,
void *  cdata,
DistanceCallBack< S >  callback,
S &  min_dist 
) const
protected

◆ empty()

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::empty ( ) const
virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager< S >.

◆ getObjects()

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::getObjects ( std::vector< CollisionObject< S > * > &  objs) const
virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ registerObject()

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::registerObject ( CollisionObject< S > *  obj)
virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ setup()

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::setup ( )
virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ size()

template<typename S >
size_t fcl::IntervalTreeCollisionManager< S >::size ( ) const
virtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ unregisterObject()

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::unregisterObject ( CollisionObject< S > *  obj)
virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [1/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::update ( )
virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager< S >.

◆ update() [2/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::update ( CollisionObject< S > *  updated_obj)
virtual

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

◆ update() [3/3]

template<typename S >
void fcl::IntervalTreeCollisionManager< S >::update ( const std::vector< CollisionObject< S > * > &  updated_objs)
virtual

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager< S >.

Member Data Documentation

◆ endpoints

template<typename S >
std::vector<EndPoint> fcl::IntervalTreeCollisionManager< S >::endpoints[3]
protected

vector stores all the end points

Definition at line 134 of file broadphase_interval_tree.h.

◆ interval_trees

template<typename S >
detail::IntervalTree<S>* fcl::IntervalTreeCollisionManager< S >::interval_trees[3]
protected

interval tree manages the intervals

Definition at line 137 of file broadphase_interval_tree.h.

◆ obj_interval_maps

template<typename S >
std::map<CollisionObject<S>*, SAPInterval*> fcl::IntervalTreeCollisionManager< S >::obj_interval_maps[3]
protected

Definition at line 139 of file broadphase_interval_tree.h.

◆ setup_

template<typename S >
bool fcl::IntervalTreeCollisionManager< S >::setup_
protected

tag for whether the interval tree is maintained suitably

Definition at line 142 of file broadphase_interval_tree.h.


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


fcl
Author(s):
autogenerated on Fri Apr 2 2021 02:38:02