#include <geometry.hpp>

Inheritance diagram for pinocchio::GeometryModel:

Public Types
enum	{ Options = context::Options }

typedef std::vector< CollisionPair >	CollisionPairVector

typedef ::pinocchio::GeometryObject	GeometryObject

typedef pinocchio::GeomIndex	GeomIndex

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

typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXi

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from pinocchio::NumericalBase< GeometryModel >
typedef traits< GeometryModel >::Scalar	Scalar

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...

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

GeometryModel	clone () const
	Create a deep copy of *this. 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 ()

	GeometryModel (const GeometryModel &other)=default

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 Member Functions inherited from pinocchio::serialization::Serializable< GeometryModel >
void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container. More...

void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file. More...

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container. More...

void	loadFromString (const std::string &str)
	Loads a Derived object from a string. More...

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string. More...

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file. More...

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file. More...

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container. More...

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file. More...

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container. More...

std::string	saveToString () const
	Saves a Derived object to a string. More...

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream. More...

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file. More...

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file. More...

Public Attributes
MatrixXi	collisionPairMapping
	Matrix relating the collision pair ID to a pair of two GeometryObject indexes. More...

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 context::Scalar	Scalar

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

Detailed Description

Definition at line 50 of file multibody/geometry.hpp.

Member Typedef Documentation

◆ CollisionPairVector

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

Definition at line 66 of file multibody/geometry.hpp.

◆ GeometryObject

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

Definition at line 64 of file multibody/geometry.hpp.

◆ GeomIndex

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

Definition at line 70 of file multibody/geometry.hpp.

◆ MatrixXb

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

Definition at line 67 of file multibody/geometry.hpp.

◆ MatrixXi

typedef Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Options> pinocchio::GeometryModel::MatrixXi

Definition at line 68 of file multibody/geometry.hpp.

◆ SE3

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

Definition at line 62 of file multibody/geometry.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
Options

Definition at line 57 of file multibody/geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryModel() [1/2]

pinocchio::GeometryModel::GeometryModel ( )

inline

Definition at line 72 of file multibody/geometry.hpp.

◆ GeometryModel() [2/2]

pinocchio::GeometryModel::GeometryModel ( const GeometryModel & other )

default

◆ ~GeometryModel()

pinocchio::GeometryModel::~GeometryModel ( )

inline

Definition at line 81 of file 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]

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.

◆ addGeometryObject() [2/2]

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.

◆ clone()

GeometryModel pinocchio::GeometryModel::clone ( ) const

Create a deep copy of *this.

◆ 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 206 of file multibody/geometry.hpp.

◆ operator==()

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

inline

Returns true if *this and other are equal.

Definition at line 196 of file 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

@node 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

◆ collisionPairMapping

MatrixXi pinocchio::GeometryModel::collisionPairMapping

Matrix relating the collision pair ID to a pair of two GeometryObject indexes.

Definition at line 223 of file multibody/geometry.hpp.

◆ collisionPairs

CollisionPairVector pinocchio::GeometryModel::collisionPairs

Vector of collision pairs.

Definition at line 220 of file multibody/geometry.hpp.

◆ geometryObjects

GeometryObjectVector pinocchio::GeometryModel::geometryObjects

Vector of GeometryObjects used for collision computations.

Definition at line 217 of file multibody/geometry.hpp.

◆ ngeoms

Index pinocchio::GeometryModel::ngeoms

The number of GeometryObjects.

Definition at line 214 of file multibody/geometry.hpp.

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef context::Scalar pinocchio::GeometryModel::Scalar

Definition at line 56 of file multibody/geometry.hpp.

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

multibody/geometry.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ CollisionPairVector

◆ GeometryObject

◆ GeomIndex

◆ MatrixXb

◆ MatrixXi

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ GeometryModel() [1/2]

◆ GeometryModel() [2/2]

◆ ~GeometryModel()

Member Function Documentation

◆ addAllCollisionPairs()

◆ addCollisionPair()

◆ addGeometryObject() [1/2]

◆ addGeometryObject() [2/2]

◆ clone()

◆ existCollisionPair()

◆ existGeometryName()

◆ findCollisionPair()

◆ getGeometryId()

◆ operator!=()

◆ operator==()

◆ PINOCCHIO_ALIGNED_STD_VECTOR()

◆ removeAllCollisionPairs()

◆ removeCollisionPair()

◆ removeGeometryObject()

◆ setCollisionPairs()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ collisionPairMapping

◆ collisionPairs

◆ geometryObjects

◆ ngeoms

◆ Scalar