Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
CollisionDetector_impl Class Reference

#include <CollisionDetector_impl.h>

List of all members.

Classes

class  ColdetModelPairEx

Public Member Functions

virtual void addCollisionPair (const LinkPair &colPair)
 CollisionDetector_impl (CORBA_ORB_ptr orb)
virtual void destroy ()
virtual CORBA::Boolean queryContactDeterminationForDefinedPairs (const CharacterPositionSequence &characterPositions, CollisionSequence_out collisions)
virtual CORBA::Boolean queryContactDeterminationForGivenPairs (const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, CollisionSequence_out collisions)
virtual void queryDistanceForDefinedPairs (const CharacterPositionSequence &characterPositions, DistanceSequence_out distances)
virtual void queryDistanceForGivenPairs (const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, DistanceSequence_out distances)
virtual CORBA::Double queryDistanceWithRay (const DblArray3 point, const DblArray3 dir)
virtual CORBA::Boolean queryIntersectionForDefinedPairs (CORBA::Boolean checkAll, const CharacterPositionSequence &characterPositions, LinkPairSequence_out collidedPairs)
virtual CORBA::Boolean queryIntersectionForGivenPairs (CORBA::Boolean checkAll, const LinkPairSequence &checkPairs, const CharacterPositionSequence &characterPositions, LinkPairSequence_out collidedPairs)
virtual void registerCharacter (const char *name, BodyInfo_ptr bodyInfo)
virtual DblSequence * scanDistanceWithRay (const DblArray3 p, const DblArray9 R, CORBA::Double step, CORBA::Double range)
 ~CollisionDetector_impl ()

Private Types

typedef intrusive_ptr
< ColdetModelPairEx
ColdetModelPairExPtr
typedef map< string,
ColdetBodyPtr
StringToColdetBodyMap

Private Member Functions

void addCollisionPairSub (const LinkPair &linkPair, vector< ColdetModelPairExPtr > &io_coldetPairs)
void computeDistances (vector< ColdetModelPairExPtr > &coldetPairs, DistanceSequence_out &out_distances)
bool detectAllCollisions (vector< ColdetModelPairExPtr > &coldetPairs, CollisionSequence_out &out_collisions)
bool detectCollidedLinkPairs (vector< ColdetModelPairExPtr > &coldetPairs, LinkPairSequence_out &out_collidedPairs, const bool checkAll)
bool detectCollisionsOfLinkPair (ColdetModelPairEx &coldetPair, CollisionPointSequence &out_collisionPoints, const bool addCollisionPoints)
bool detectIntersectingLinkPairs (vector< ColdetModelPairExPtr > &coldetPairs, LinkPairSequence_out &out_collidedPairs, const bool checkAll)
bool detectIntersectionOfLinkPair (ColdetModelPairExPtr &coldetPair)
void updateAllLinkPositions (const CharacterPositionSequence &characterPositions)

Private Attributes

StringToColdetBodyMap bodyInfoToColdetBodyMap
vector< ColdetModelPairExPtrcoldetModelPairs
StringToColdetBodyMap nameToColdetBodyMap
CORBA_ORB_var orb

Detailed Description

Definition at line 32 of file CollisionDetector_impl.h.


Member Typedef Documentation

Definition at line 116 of file CollisionDetector_impl.h.

Definition at line 96 of file CollisionDetector_impl.h.


Constructor & Destructor Documentation

Definition at line 27 of file CollisionDetector_impl.cpp.

Definition at line 34 of file CollisionDetector_impl.cpp.


Member Function Documentation

void CollisionDetector_impl::addCollisionPair ( const LinkPair &  colPair) [virtual]

Definition at line 81 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::addCollisionPairSub ( const LinkPair &  linkPair,
vector< ColdetModelPairExPtr > &  io_coldetPairs 
) [private]

Definition at line 88 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::computeDistances ( vector< ColdetModelPairExPtr > &  coldetPairs,
DistanceSequence_out &  out_distances 
) [private]

Definition at line 421 of file CollisionDetector_impl.cpp.

Definition at line 40 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectAllCollisions ( vector< ColdetModelPairExPtr > &  coldetPairs,
CollisionSequence_out &  out_collisions 
) [private]

Definition at line 168 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectCollidedLinkPairs ( vector< ColdetModelPairExPtr > &  coldetPairs,
LinkPairSequence_out &  out_collidedPairs,
const bool  checkAll 
) [private]

Definition at line 351 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectCollisionsOfLinkPair ( ColdetModelPairEx coldetPair,
CollisionPointSequence &  out_collisionPoints,
const bool  addCollisionPoints 
) [private]

Definition at line 195 of file CollisionDetector_impl.cpp.

bool CollisionDetector_impl::detectIntersectingLinkPairs ( vector< ColdetModelPairExPtr > &  coldetPairs,
LinkPairSequence_out &  out_collidedPairs,
const bool  checkAll 
) [private]

Definition at line 387 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryContactDeterminationForDefinedPairs ( const CharacterPositionSequence &  characterPositions,
CollisionSequence_out  collisions 
) [virtual]

Definition at line 127 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryContactDeterminationForGivenPairs ( const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
CollisionSequence_out  collisions 
) [virtual]

Definition at line 135 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::queryDistanceForDefinedPairs ( const CharacterPositionSequence &  characterPositions,
DistanceSequence_out  distances 
) [virtual]

Definition at line 271 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::queryDistanceForGivenPairs ( const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
DistanceSequence_out  distances 
) [virtual]

Definition at line 282 of file CollisionDetector_impl.cpp.

CORBA::Double CollisionDetector_impl::queryDistanceWithRay ( const DblArray3  point,
const DblArray3  dir 
) [virtual]

Definition at line 301 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryIntersectionForDefinedPairs ( CORBA::Boolean  checkAll,
const CharacterPositionSequence &  characterPositions,
LinkPairSequence_out  collidedPairs 
) [virtual]

Definition at line 238 of file CollisionDetector_impl.cpp.

CORBA::Boolean CollisionDetector_impl::queryIntersectionForGivenPairs ( CORBA::Boolean  checkAll,
const LinkPairSequence &  checkPairs,
const CharacterPositionSequence &  characterPositions,
LinkPairSequence_out  collidedPairs 
) [virtual]

Definition at line 250 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::registerCharacter ( const char *  name,
BodyInfo_ptr  bodyInfo 
) [virtual]

Definition at line 48 of file CollisionDetector_impl.cpp.

DblSequence * CollisionDetector_impl::scanDistanceWithRay ( const DblArray3  p,
const DblArray9  R,
CORBA::Double  step,
CORBA::Double  range 
) [virtual]

Definition at line 327 of file CollisionDetector_impl.cpp.

void CollisionDetector_impl::updateAllLinkPositions ( const CharacterPositionSequence &  characterPositions) [private]

Definition at line 153 of file CollisionDetector_impl.cpp.


Member Data Documentation

Definition at line 99 of file CollisionDetector_impl.h.

Definition at line 118 of file CollisionDetector_impl.h.

Definition at line 101 of file CollisionDetector_impl.h.

Definition at line 94 of file CollisionDetector_impl.h.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:21