#include <broadphase-manager.hpp>

Inheritance diagram for pinocchio::BroadPhaseManagerTpl< _Manager >:

Public Types
typedef std::vector< CollisionObject >	CollisionObjectVector

typedef ::pinocchio::GeometryData	GeometryData

typedef ::pinocchio::GeometryModel	GeometryModel

typedef _Manager	Manager

typedef ::pinocchio::Model	Model

typedef Eigen::VectorXd	VectorXs

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

	BroadPhaseManagerTpl (const BroadPhaseManagerTpl &other)
	Copy contructor. More...

	BroadPhaseManagerTpl (const Model model_ptr, const GeometryModel geometry_model_ptr, GeometryData *geometry_data_ptr, const GeometryObjectFilterBase &filter=GeometryObjectFilterNothing())
	Constructor from a given geometry model and 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 (BroadPhaseManagerTpl &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...

const VectorXs &	getCollisionObjectInflation ()
	Returns the inflation value related to each collision object. More...

CollisionObjectVector &	getCollisionObjects ()
	Returns the vector of collision objects associated to the manager. More...

const CollisionObjectVector &	getCollisionObjects () const
	Returns the vector of collision objects associated to the manager. More...

const std::vector< bool > &	getCollisionObjectStatus () const
	Returns the status of the collision object. More...

Manager &	getManager ()
	Returns internal manager. More...

const Manager &	getManager () const
	Returns internal manager. More...

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...

	~BroadPhaseManagerTpl ()

Public Member Functions inherited from pinocchio::BroadPhaseManagerBase< BroadPhaseManagerTpl< _Manager > >
	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...

BroadPhaseManagerTpl< _Manager > &	derived ()

const BroadPhaseManagerTpl< _Manager > &	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...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef BroadPhaseManagerBase< BroadPhaseManagerTpl< _Manager > >	Base

Protected Member Functions
void	init ()
	Initialialisation of BroadPhaseManagerTpl. More...

Protected Attributes
VectorXs	collision_object_inflation
	the inflation value related to each collision object. More...

std::vector< bool >	collision_object_is_active
	Disable status related to each collision objects. More...

CollisionObjectVector	collision_objects
	the vector of collision objects. More...

std::vector< size_t >	geometry_to_collision_index
	Mapping between a given geometry index and a collision index. More...

Manager	manager
	internal manager More...

std::vector< size_t >	selected_collision_pairs
	Selected collision pairs in the original geometry_model. More...

std::vector< size_t >	selected_geometry_objects
	Selected geometry objects in the original geometry_model. More...

Protected Attributes inherited from pinocchio::BroadPhaseManagerBase< BroadPhaseManagerTpl< _Manager > >
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 _Manager>
struct pinocchio::BroadPhaseManagerTpl< _Manager >

Definition at line 17 of file collision/broadphase-manager.hpp.

Member Typedef Documentation

◆ CollisionObjectVector

template<typename _Manager >

typedef std::vector<CollisionObject> pinocchio::BroadPhaseManagerTpl< _Manager >::CollisionObjectVector

Definition at line 22 of file collision/broadphase-manager.hpp.

◆ GeometryData

template<typename _Manager >

typedef ::pinocchio::GeometryData pinocchio::BroadPhaseManagerTpl< _Manager >::GeometryData

Definition at line 28 of file collision/broadphase-manager.hpp.

◆ GeometryModel

template<typename _Manager >

typedef ::pinocchio::GeometryModel pinocchio::BroadPhaseManagerTpl< _Manager >::GeometryModel

Definition at line 27 of file collision/broadphase-manager.hpp.

◆ Manager

template<typename _Manager >

typedef _Manager pinocchio::BroadPhaseManagerTpl< _Manager >::Manager

Definition at line 24 of file collision/broadphase-manager.hpp.

◆ Model

template<typename _Manager >

typedef ::pinocchio::Model pinocchio::BroadPhaseManagerTpl< _Manager >::Model

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

◆ VectorXs

template<typename _Manager >

typedef Eigen::VectorXd pinocchio::BroadPhaseManagerTpl< _Manager >::VectorXs

Definition at line 23 of file collision/broadphase-manager.hpp.

Constructor & Destructor Documentation

◆ BroadPhaseManagerTpl() [1/3]

template<typename _Manager >

pinocchio::BroadPhaseManagerTpl< _Manager >::BroadPhaseManagerTpl ( )

inline

Default constructor.

Definition at line 31 of file collision/broadphase-manager.hpp.

◆ BroadPhaseManagerTpl() [2/3]

template<typename _Manager >

pinocchio::BroadPhaseManagerTpl< _Manager >::BroadPhaseManagerTpl	(	const Model *	model_ptr,
		const GeometryModel *	geometry_model_ptr,
		GeometryData *	geometry_data_ptr,
		const GeometryObjectFilterBase &	filter = `GeometryObjectFilterNothing()`
	)

inline

Constructor from a given geometry model and data.

Parameters

[in]	model_ptr	pointer to the model.
[in]	geometry_model_ptr	pointer to the geometry model.
[in]	geometry_data_ptr	pointer to the geometry data.

Definition at line 42 of file collision/broadphase-manager.hpp.

◆ BroadPhaseManagerTpl() [3/3]

template<typename _Manager >

pinocchio::BroadPhaseManagerTpl< _Manager >::BroadPhaseManagerTpl ( const BroadPhaseManagerTpl< _Manager > & other )

inline

Copy contructor.

Parameters

[in] other manager to copy.

Definition at line 86 of file collision/broadphase-manager.hpp.

◆ ~BroadPhaseManagerTpl()

template<typename _Manager >

pinocchio::BroadPhaseManagerTpl< _Manager >::~BroadPhaseManagerTpl ( )

Member Function Documentation

◆ check() [1/2]

template<typename _Manager >

bool pinocchio::BroadPhaseManagerTpl< _Manager >::check ( ) const

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

◆ check() [2/2]

template<typename _Manager >

bool pinocchio::BroadPhaseManagerTpl< _Manager >::check ( CollisionCallBackBase * callback ) const

Check whether the callback is inline with *this.

◆ collide() [1/3]

template<typename _Manager >

bool pinocchio::BroadPhaseManagerTpl< _Manager >::collide	(	BroadPhaseManagerTpl< _Manager > &	other_manager,
		CollisionCallBackBase *	callback
	)		const

Performs collision test with objects belonging to another manager.

◆ collide() [2/3]

template<typename _Manager >

bool pinocchio::BroadPhaseManagerTpl< _Manager >::collide ( CollisionCallBackBase * callback ) const

Performs collision test for the objects belonging to the manager.

◆ collide() [3/3]

template<typename _Manager >

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

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

◆ getCollisionObjectInflation()

template<typename _Manager >

const VectorXs& pinocchio::BroadPhaseManagerTpl< _Manager >::getCollisionObjectInflation ( )

inline

Returns the inflation value related to each collision object.

Definition at line 138 of file collision/broadphase-manager.hpp.

◆ getCollisionObjects() [1/2]

template<typename _Manager >

CollisionObjectVector& pinocchio::BroadPhaseManagerTpl< _Manager >::getCollisionObjects ( )

inline

Returns the vector of collision objects associated to the manager.

Definition at line 132 of file collision/broadphase-manager.hpp.

◆ getCollisionObjects() [2/2]

template<typename _Manager >

const CollisionObjectVector& pinocchio::BroadPhaseManagerTpl< _Manager >::getCollisionObjects ( ) const

inline

Returns the vector of collision objects associated to the manager.

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

◆ getCollisionObjectStatus()

template<typename _Manager >

const std::vector<bool>& pinocchio::BroadPhaseManagerTpl< _Manager >::getCollisionObjectStatus ( ) const

inline

Returns the status of the collision object.

Definition at line 176 of file collision/broadphase-manager.hpp.

◆ getManager() [1/2]

template<typename _Manager >

Manager& pinocchio::BroadPhaseManagerTpl< _Manager >::getManager ( )

inline

Returns internal manager.

Definition at line 164 of file collision/broadphase-manager.hpp.

◆ getManager() [2/2]

template<typename _Manager >

const Manager& pinocchio::BroadPhaseManagerTpl< _Manager >::getManager ( ) const

inline

Returns internal manager.

Definition at line 170 of file collision/broadphase-manager.hpp.

◆ init()

template<typename _Manager >

void pinocchio::BroadPhaseManagerTpl< _Manager >::init ( )

protected

Initialialisation of BroadPhaseManagerTpl.

◆ update() [1/2]

template<typename _Manager >

void pinocchio::BroadPhaseManagerTpl< _Manager >::update ( bool compute_local_aabb = false )

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.

◆ update() [2/2]

template<typename _Manager >

void pinocchio::BroadPhaseManagerTpl< _Manager >::update ( GeometryData * geom_data_ptr_new )

Update the manager with a new geometry data.

Parameters

[in] geom_data_ptr_new pointer to the new geometry data.

Member Data Documentation

◆ Base

template<typename _Manager >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef BroadPhaseManagerBase<BroadPhaseManagerTpl<_Manager> > pinocchio::BroadPhaseManagerTpl< _Manager >::Base

Definition at line 21 of file collision/broadphase-manager.hpp.

◆ collision_object_inflation

template<typename _Manager >

VectorXs pinocchio::BroadPhaseManagerTpl< _Manager >::collision_object_inflation

protected

the inflation value related to each collision object.

Definition at line 189 of file collision/broadphase-manager.hpp.

◆ collision_object_is_active

template<typename _Manager >

std::vector<bool> pinocchio::BroadPhaseManagerTpl< _Manager >::collision_object_is_active

protected

Disable status related to each collision objects.

Definition at line 201 of file collision/broadphase-manager.hpp.

◆ collision_objects

template<typename _Manager >

CollisionObjectVector pinocchio::BroadPhaseManagerTpl< _Manager >::collision_objects

protected

the vector of collision objects.

Definition at line 186 of file collision/broadphase-manager.hpp.

◆ geometry_to_collision_index

template<typename _Manager >

std::vector<size_t> pinocchio::BroadPhaseManagerTpl< _Manager >::geometry_to_collision_index

protected

Mapping between a given geometry index and a collision index.

Definition at line 195 of file collision/broadphase-manager.hpp.

◆ manager

template<typename _Manager >

Manager pinocchio::BroadPhaseManagerTpl< _Manager >::manager

protected

internal manager

Definition at line 183 of file collision/broadphase-manager.hpp.

◆ selected_collision_pairs

template<typename _Manager >

std::vector<size_t> pinocchio::BroadPhaseManagerTpl< _Manager >::selected_collision_pairs

protected

Selected collision pairs in the original geometry_model.

Definition at line 198 of file collision/broadphase-manager.hpp.

◆ selected_geometry_objects

template<typename _Manager >

std::vector<size_t> pinocchio::BroadPhaseManagerTpl< _Manager >::selected_geometry_objects

protected

Selected geometry objects in the original geometry_model.

Definition at line 192 of file collision/broadphase-manager.hpp.

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

collision/broadphase-manager.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename _Manager> struct pinocchio::BroadPhaseManagerTpl< _Manager >

Member Typedef Documentation

◆ CollisionObjectVector

◆ GeometryData

◆ GeometryModel

◆ Manager

◆ Model

◆ VectorXs

Constructor & Destructor Documentation

◆ BroadPhaseManagerTpl() [1/3]

◆ BroadPhaseManagerTpl() [2/3]

◆ BroadPhaseManagerTpl() [3/3]

◆ ~BroadPhaseManagerTpl()

Member Function Documentation

◆ check() [1/2]

◆ check() [2/2]

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ getCollisionObjectInflation()

◆ getCollisionObjects() [1/2]

◆ getCollisionObjects() [2/2]

◆ getCollisionObjectStatus()

◆ getManager() [1/2]

◆ getManager() [2/2]

◆ init()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ Base

◆ collision_object_inflation

◆ collision_object_is_active

◆ collision_objects

◆ geometry_to_collision_index

◆ manager

◆ selected_collision_pairs

◆ selected_geometry_objects

template<typename _Manager>
struct pinocchio::BroadPhaseManagerTpl< _Manager >