#include <broadphase-manager-base.hpp>

Public Member Functions
	BroadPhaseManagerBase ()
	Default constructor. More...

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

	BroadPhaseManagerBase (const Model model_ptr, const GeometryModel geometry_model_ptr, GeometryData *geometry_data_ptr)
	Constructor from a given geometry model and geometry data. More...

bool	check () const
	Check whether the base broad phase manager is aligned with the current collision_objects. More...

bool	check (CollisionCallBackBase *callback) const
	Check whether the callback is inline with *this. More...

bool	collide (BroadPhaseManagerBase &other_manager, CollisionCallBackBase *callback) const
	Performs collision test with objects belonging to another manager. More...

bool	collide (CollisionCallBackBase *callback) const
	Performs collision test for the objects belonging to the manager. More...

bool	collide (CollisionObject &obj, CollisionCallBackBase *callback) const
	Performs collision test between one object and all the objects belonging to the manager. More...

Derived &	derived ()

const Derived &	derived () const

GeometryData &	getGeometryData ()
	Returns the geometry data associated to the manager. More...

const GeometryData &	getGeometryData () const
	Returns the geometry data associated to the manager. More...

const GeometryModel &	getGeometryModel () const
	Returns the geometry model associated to the manager. More...

const Model &	getModel () const
	Returns the model associated to the manager. More...

BroadPhaseManagerBase &	operator= (const BroadPhaseManagerBase &other)

void	update (bool compute_local_aabb=false)
	Update the manager from the current geometry positions and update the underlying FCL broad phase manager. More...

void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data. More...

Protected Attributes
GeometryData *	geometry_data_ptr
	Pointer to the geometry data. More...

const GeometryModel *	geometry_model_ptr
	Pointer to the geometry model. More...

const Model *	model_ptr
	Pointer to the model. More...

Detailed Description

template<typename Derived>
struct pinocchio::BroadPhaseManagerBase< Derived >

Definition at line 15 of file collision/broadphase-manager-base.hpp.

Constructor & Destructor Documentation

◆ BroadPhaseManagerBase() [1/3]

template<typename Derived >

pinocchio::BroadPhaseManagerBase< Derived >::BroadPhaseManagerBase ( )

inline

Default constructor.

Definition at line 18 of file collision/broadphase-manager-base.hpp.

◆ BroadPhaseManagerBase() [2/3]

template<typename Derived >

pinocchio::BroadPhaseManagerBase< Derived >::BroadPhaseManagerBase	(	const Model *	model_ptr,
		const GeometryModel *	geometry_model_ptr,
		GeometryData *	geometry_data_ptr
	)

inline

Constructor from a given geometry model and geometry data.

Definition at line 26 of file collision/broadphase-manager-base.hpp.

◆ BroadPhaseManagerBase() [3/3]

template<typename Derived >

pinocchio::BroadPhaseManagerBase< Derived >::BroadPhaseManagerBase ( const BroadPhaseManagerBase< Derived > & other )

inline

Copy constructor.

Definition at line 37 of file collision/broadphase-manager-base.hpp.

Member Function Documentation

◆ check() [1/2]

template<typename Derived >

bool pinocchio::BroadPhaseManagerBase< Derived >::check ( ) const

inline

Check whether the base broad phase manager is aligned with the current collision_objects.

Definition at line 64 of file collision/broadphase-manager-base.hpp.

◆ check() [2/2]

template<typename Derived >

bool pinocchio::BroadPhaseManagerBase< Derived >::check ( CollisionCallBackBase * callback ) const

inline

Check whether the callback is inline with *this.

Definition at line 70 of file collision/broadphase-manager-base.hpp.

◆ collide() [1/3]

template<typename Derived >

bool pinocchio::BroadPhaseManagerBase< Derived >::collide	(	BroadPhaseManagerBase< Derived > &	other_manager,
		CollisionCallBackBase *	callback
	)		const

inline

Performs collision test with objects belonging to another manager.

Definition at line 111 of file collision/broadphase-manager-base.hpp.

◆ collide() [2/3]

template<typename Derived >

bool pinocchio::BroadPhaseManagerBase< Derived >::collide ( CollisionCallBackBase * callback ) const

inline

Performs collision test for the objects belonging to the manager.

Definition at line 105 of file collision/broadphase-manager-base.hpp.

◆ collide() [3/3]

template<typename Derived >

bool pinocchio::BroadPhaseManagerBase< Derived >::collide	(	CollisionObject &	obj,
		CollisionCallBackBase *	callback
	)		const

inline

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

Definition at line 99 of file collision/broadphase-manager-base.hpp.

◆ derived() [1/2]

template<typename Derived >

Derived& pinocchio::BroadPhaseManagerBase< Derived >::derived ( )

inline

Definition at line 53 of file collision/broadphase-manager-base.hpp.

◆ derived() [2/2]

template<typename Derived >

const Derived& pinocchio::BroadPhaseManagerBase< Derived >::derived ( ) const

inline

Definition at line 57 of file collision/broadphase-manager-base.hpp.

◆ getGeometryData() [1/2]

template<typename Derived >

GeometryData& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryData ( )

inline

Returns the geometry data associated to the manager.

Definition at line 145 of file collision/broadphase-manager-base.hpp.

◆ getGeometryData() [2/2]

template<typename Derived >

const GeometryData& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryData ( ) const

inline

Returns the geometry data associated to the manager.

Definition at line 139 of file collision/broadphase-manager-base.hpp.

◆ getGeometryModel()

template<typename Derived >

const GeometryModel& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryModel ( ) const

inline

Returns the geometry model associated to the manager.

Definition at line 133 of file collision/broadphase-manager-base.hpp.

◆ getModel()

template<typename Derived >

const Model& pinocchio::BroadPhaseManagerBase< Derived >::getModel ( ) const

inline

Returns the model associated to the manager.

Definition at line 127 of file collision/broadphase-manager-base.hpp.

◆ operator=()

template<typename Derived >

BroadPhaseManagerBase& pinocchio::BroadPhaseManagerBase< Derived >::operator= ( const BroadPhaseManagerBase< Derived > & other )

inline

Definition at line 45 of file collision/broadphase-manager-base.hpp.

◆ update() [1/2]

template<typename Derived >

void pinocchio::BroadPhaseManagerBase< Derived >::update ( bool compute_local_aabb = false )

inline

Update the manager from the current geometry positions and update the underlying FCL broad phase manager.

Parameters

[in] compute_local_aabb whether to recompute the local AABB of the collision geometries which have changed.

Definition at line 82 of file collision/broadphase-manager-base.hpp.

◆ update() [2/2]

template<typename Derived >

void pinocchio::BroadPhaseManagerBase< Derived >::update ( GeometryData * geom_data_ptr_new )

inline

Update the manager with a new geometry data.

Parameters

[in] geom_data_ptr_new pointer to the new geometry data.

Definition at line 92 of file collision/broadphase-manager-base.hpp.

Member Data Documentation

◆ geometry_data_ptr

template<typename Derived >

GeometryData* pinocchio::BroadPhaseManagerBase< Derived >::geometry_data_ptr

protected

Pointer to the geometry data.

Definition at line 158 of file collision/broadphase-manager-base.hpp.

◆ geometry_model_ptr

template<typename Derived >

const GeometryModel* pinocchio::BroadPhaseManagerBase< Derived >::geometry_model_ptr

protected

Pointer to the geometry model.

Definition at line 155 of file collision/broadphase-manager-base.hpp.

◆ model_ptr

template<typename Derived >

const Model* pinocchio::BroadPhaseManagerBase< Derived >::model_ptr

protected

Pointer to the model.

Definition at line 152 of file collision/broadphase-manager-base.hpp.

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

collision/broadphase-manager-base.hpp

Public Member Functions

Protected Attributes

Detailed Description

template<typename Derived> struct pinocchio::BroadPhaseManagerBase< Derived >

Constructor & Destructor Documentation

◆ BroadPhaseManagerBase() [1/3]

◆ BroadPhaseManagerBase() [2/3]

◆ BroadPhaseManagerBase() [3/3]

Member Function Documentation

◆ check() [1/2]

◆ check() [2/2]

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ derived() [1/2]

◆ derived() [2/2]

◆ getGeometryData() [1/2]

◆ getGeometryData() [2/2]

◆ getGeometryModel()

◆ getModel()

◆ operator=()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ geometry_data_ptr

◆ geometry_model_ptr

◆ model_ptr

template<typename Derived>
struct pinocchio::BroadPhaseManagerBase< Derived >