colinfo.h
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * The University of Tokyo
00008  */
00014 #ifndef __COLINFO_H__
00015 #define __COLINFO_H__
00016 
00017 #include <chain.h>
00018 //#include <tList.h>
00019 
00020 class ColPair
00021 {
00022         friend class ColInfo;
00023 public:
00024         ColPair(Chain* chain, const char* jointname1, const char* charname1, const char* jointname2, const char* charname2) {
00025         }
00026         
00027         ~ColPair() {
00028         }
00029 
00030         Joint* GetJoint(int i) {
00031                 return joints[i];
00032         }
00033 
00034 private:
00035         Joint* joints[2];
00036 };
00037 
00038 class ColInfo
00039 {
00040         friend class ColPair;
00041         friend class ColModel;
00042 public:
00043         ColInfo() {
00044                 n_pairs = 0;
00045                 n_allocated_pairs = 0;
00046                 n_models = 0;
00047                 n_allocated_models = 0;
00048                 n_total_tri = 0;
00049                 pairs = 0;
00050                 models = 0;
00051         }
00052         ~ColInfo() {
00053                 if(pairs)
00054                 {
00055                         for(int i=0; i<n_pairs; i++) delete pairs[i];
00056                         delete[] pairs;
00057                 }
00058                 if(models)
00059                 {
00060                         for(int i=0; i<n_models; i++) delete models[i];
00061                         delete[] models;
00062                 }
00063         }
00064 
00065         /*
00066          * add collision pairs by character name
00067          */
00068         int AddCharPairs(const char* char1, const char* char2,
00069                                          Chain* chain, SceneGraph* sg);
00070         /*
00071          * add collision pairs by joint name
00072          */
00073         int AddJointPair(const char* joint1, const char* joint2,
00074                                          Chain* chain, SceneGraph* sg);
00075 
00076         /*
00077          * query information
00078          */
00079         int NumPairs() {
00080                 return n_pairs;
00081         }
00082         int NumModels() {
00083                 return n_models;
00084         }
00085         int NumTriangles() {
00086                 return n_total_tri;
00087         }
00088         ColPair* Pair(int i) {
00089                 return pairs[i];
00090         }
00091         ColModel* Model(int i) {
00092                 return models[i];
00093         }
00094         ColModel* Model(Joint* jref) {
00095                 for(int i=0; i<n_models; i++)
00096                 {
00097                         if(models[i]->joint == jref) return models[i];
00098                 }
00099                 return 0;
00100         }
00101         ColPair* Pair(Joint* jref1, Joint* jref2) {
00102                 for(int i=0; i<n_pairs; i++)
00103                 {
00104                         if(pairs[i]->models[0]->joint == jref1 && pairs[i]->models[1]->joint == jref2) return pairs[i];
00105                         else if(pairs[i]->models[1]->joint == jref1 && pairs[i]->models[0]->joint == jref2) return pairs[i];
00106                 }
00107                 return 0;
00108         }
00109         ColModel* AddModel(Joint* jref, SceneGraph* sg);
00110 
00111 private:
00112         void allocate_pair(int n_new_alloc) {
00113                 ColPair** tmp = pairs;
00114                 pairs = new ColPair* [n_new_alloc];
00115                 if(tmp)
00116                 {
00117                         for(int i=0; i<n_allocated_pairs; i++) pairs[i] = tmp[i];
00118                         delete[] tmp;
00119                 }
00120                 n_allocated_pairs = n_new_alloc;
00121         }
00122         void allocate_model(int n_new_alloc) {
00123                 ColModel** tmp = models;
00124                 models = new ColModel* [n_new_alloc];
00125                 if(tmp)
00126                 {
00127                         for(int i=0; i<n_allocated_models; i++) models[i] = tmp[i];
00128                         delete[] tmp;
00129                 }
00130                 n_allocated_models = n_new_alloc;
00131         }
00132         void add_pair(ColPair* p);
00133         void add_model(ColModel* m);
00134 
00135         int add_char_pairs(Joint* cur, const char* char1, const char* char2, Chain* chain, SceneGraph* sg);
00136         int add_char_pairs(Joint* j1, Joint* j2, const char* char2, SceneGraph* sg);
00137         int add_joint_pair(Joint* j1, Joint* j2, SceneGraph* sg);
00138         
00139         int n_pairs;
00140         int n_allocated_pairs;
00141         ColPair** pairs;
00142 
00143         int n_models;
00144         int n_allocated_models;
00145         ColModel** models;
00146         int n_total_tri;
00147 };
00148 
00149 
00150 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53