broadphase_SSaP.h
Go to the documentation of this file.
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011-2014, Willow Garage, Inc.
5  * Copyright (c) 2014-2016, Open Source Robotics Foundation
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Open Source Robotics Foundation nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  */
35 
38 #ifndef HPP_FCL_BROAD_PHASE_SSAP_H
39 #define HPP_FCL_BROAD_PHASE_SSAP_H
40 
41 #include <vector>
43 
44 namespace hpp {
45 namespace fcl {
46 
48 class HPP_FCL_DLLAPI SSaPCollisionManager : public BroadPhaseCollisionManager {
49  public:
51  using Base::getObjects;
52 
54 
56  void registerObject(CollisionObject* obj);
57 
59  void unregisterObject(CollisionObject* obj);
60 
62  void setup();
63 
65  virtual void update();
66 
68  void clear();
69 
71  void getObjects(std::vector<CollisionObject*>& objs) const;
72 
76 
80 
84 
88 
90  void collide(BroadPhaseCollisionManager* other_manager,
92 
94  void distance(BroadPhaseCollisionManager* other_manager,
96 
98  bool empty() const;
99 
101  size_t size() const;
102 
103  protected:
106  bool checkColl(
107  typename std::vector<CollisionObject*>::const_iterator pos_start,
108  typename std::vector<CollisionObject*>::const_iterator pos_end,
110 
113  bool checkDis(
114  typename std::vector<CollisionObject*>::const_iterator pos_start,
115  typename std::vector<CollisionObject*>::const_iterator pos_end,
117  FCL_REAL& min_dist) const;
118 
119  bool collide_(CollisionObject* obj, CollisionCallBackBase* callback) const;
120 
121  bool distance_(CollisionObject* obj, DistanceCallBackBase* callback,
122  FCL_REAL& min_dist) const;
123 
124  static int selectOptimalAxis(
125  const std::vector<CollisionObject*>& objs_x,
126  const std::vector<CollisionObject*>& objs_y,
127  const std::vector<CollisionObject*>& objs_z,
128  typename std::vector<CollisionObject*>::const_iterator& it_beg,
129  typename std::vector<CollisionObject*>::const_iterator& it_end);
130 
132  std::vector<CollisionObject*> objs_x;
133 
135  std::vector<CollisionObject*> objs_y;
136 
138  std::vector<CollisionObject*> objs_z;
139 
142  bool setup_;
143 };
144 
145 } // namespace fcl
146 } // namespace hpp
147 
148 #endif
setup
hpp::fcl::SSaPCollisionManager::objs_x
std::vector< CollisionObject * > objs_x
Objects sorted according to lower x value.
Definition: broadphase_SSaP.h:132
collision_manager.callback
callback
Definition: collision_manager.py:27
hpp::fcl::SSaPCollisionManager::setup_
bool setup_
tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y,...
Definition: broadphase_SSaP.h:142
broadphase_collision_manager.h
hpp::fcl::distance
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
Definition: kIOS.cpp:181
hpp::fcl::SSaPCollisionManager::Base
BroadPhaseCollisionManager Base
Definition: broadphase_SSaP.h:50
hpp::fcl::BroadPhaseCollisionManager
Base class for broad phase collision. It helps to accelerate the collision/distance between N objects...
Definition: broadphase_collision_manager.h:54
hpp::fcl::collide
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
Definition: src/collision.cpp:63
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:65
hpp::fcl::DistanceCallBackBase
Base callback class for distance queries. This class can be supersed by child classes to provide desi...
Definition: broadphase_callbacks.h:73
hpp::fcl::SSaPCollisionManager::objs_y
std::vector< CollisionObject * > objs_y
Objects sorted according to lower y value.
Definition: broadphase_SSaP.h:135
hpp
Main namespace.
Definition: broadphase_bruteforce.h:44
hpp::fcl::CollisionObject
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
hpp::fcl::SSaPCollisionManager::objs_z
std::vector< CollisionObject * > objs_z
Objects sorted according to lower z value.
Definition: broadphase_SSaP.h:138
hpp::fcl::CollisionCallBackBase
Base callback class for collision queries. This class can be supersed by child classes to provide des...
Definition: broadphase_callbacks.h:50
hpp::fcl::SSaPCollisionManager
Simple SAP collision manager.
Definition: broadphase_SSaP.h:48


hpp-fcl
Author(s):
autogenerated on Fri Jan 26 2024 03:46:12