Simple SAP collision manager. More...

#include <broadphase_SSaP.h>

Inheritance diagram for hpp::fcl::SSaPCollisionManager:

Public Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
void	clear ()
	clear the manager More...

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager More...

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager More...

bool	empty () const
	whether the manager is empty More...

void	getObjects (std::vector< CollisionObject *> &objs) const
	return the objects managed by the manager More...

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

size_t	size () const
	the number of objects managed by the manager More...

	SSaPCollisionManager ()

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

virtual void	update ()
	update the condition of manager More...

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

virtual void	registerObjects (const std::vector< CollisionObject *> &other_objs)
	add objects to the manager More...

virtual void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

virtual void	update (const std::vector< CollisionObject *> &updated_objs)
	update the manager by explicitly given the set of objects update More...

virtual	~BroadPhaseCollisionManager ()

Protected Member Functions
bool	checkColl (typename std::vector< CollisionObject >::const_iterator pos_start, typename std::vector< CollisionObject >::const_iterator pos_end, CollisionObject obj, CollisionCallBackBase callback) const
	check collision between one object and a list of objects, return value is whether stop is possible More...

bool	checkDis (typename std::vector< CollisionObject >::const_iterator pos_start, typename std::vector< CollisionObject >::const_iterator pos_end, CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible More...

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const

Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
void	insertTestedSet (CollisionObject a, CollisionObject b) const

bool	inTestedSet (CollisionObject a, CollisionObject b) const

Static Protected Member Functions
static int	selectOptimalAxis (const std::vector< CollisionObject > &objs_x, const std::vector< CollisionObject > &objs_y, const std::vector< CollisionObject > &objs_z, typename std::vector< CollisionObject >::const_iterator &it_beg, typename std::vector< CollisionObject *>::const_iterator &it_end)

Protected Attributes
std::vector< CollisionObject * >	objs_x
	Objects sorted according to lower x value. More...

std::vector< CollisionObject * >	objs_y
	Objects sorted according to lower y value. More...

std::vector< CollisionObject * >	objs_z
	Objects sorted according to lower z value. More...

bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly More...

Protected Attributes inherited from hpp::fcl::BroadPhaseCollisionManager
bool	enable_tested_set_

std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

Detailed Description

Simple SAP collision manager.

Definition at line 48 of file broadphase_SSaP.h.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::SSaPCollisionManager::Base

Definition at line 50 of file broadphase_SSaP.h.

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

hpp::fcl::SSaPCollisionManager::SSaPCollisionManager ( )

Definition at line 122 of file broadphase_SSaP.cpp.

Member Function Documentation

◆ checkColl()

bool hpp::fcl::SSaPCollisionManager::checkColl	(	typename std::vector< CollisionObject *>::const_iterator	pos_start,
		typename std::vector< CollisionObject *>::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

check collision between one object and a list of objects, return value is whether stop is possible

Definition at line 166 of file broadphase_SSaP.cpp.

◆ checkDis()

bool hpp::fcl::SSaPCollisionManager::checkDis	(	typename std::vector< CollisionObject *>::const_iterator	pos_start,
		typename std::vector< CollisionObject *>::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

check distance between one object and a list of objects, return value is whether stop is possible

Definition at line 183 of file broadphase_SSaP.cpp.

◆ clear()

void hpp::fcl::SSaPCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 151 of file broadphase_SSaP.cpp.

◆ collide() [1/3]

void hpp::fcl::SSaPCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

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

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 202 of file broadphase_SSaP.cpp.

◆ collide() [2/3]

void hpp::fcl::SSaPCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 403 of file broadphase_SSaP.cpp.

◆ collide() [3/3]

void hpp::fcl::SSaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 464 of file broadphase_SSaP.cpp.

◆ collide_()

bool hpp::fcl::SSaPCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

Definition at line 211 of file broadphase_SSaP.cpp.

◆ distance() [1/3]

void hpp::fcl::SSaPCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 255 of file broadphase_SSaP.cpp.

◆ distance() [2/3]

void hpp::fcl::SSaPCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 450 of file broadphase_SSaP.cpp.

◆ distance() [3/3]

void hpp::fcl::SSaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 489 of file broadphase_SSaP.cpp.

◆ distance_()

bool hpp::fcl::SSaPCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

Definition at line 265 of file broadphase_SSaP.cpp.

◆ empty()

bool hpp::fcl::SSaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 515 of file broadphase_SSaP.cpp.

◆ getObjects()

void hpp::fcl::SSaPCollisionManager::getObjects ( std::vector< CollisionObject *> & objs ) const

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 159 of file broadphase_SSaP.cpp.

◆ registerObject()

void hpp::fcl::SSaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 127 of file broadphase_SSaP.cpp.

◆ selectOptimalAxis()

int hpp::fcl::SSaPCollisionManager::selectOptimalAxis	(	const std::vector< CollisionObject *> &	objs_x,
		const std::vector< CollisionObject *> &	objs_y,
		const std::vector< CollisionObject *> &	objs_z,
		typename std::vector< CollisionObject *>::const_iterator &	it_beg,
		typename std::vector< CollisionObject *>::const_iterator &	it_end
	)

staticprotected

simple sweep and prune method

Definition at line 364 of file broadphase_SSaP.cpp.

◆ setup()

void hpp::fcl::SSaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 135 of file broadphase_SSaP.cpp.

◆ size()

size_t hpp::fcl::SSaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 518 of file broadphase_SSaP.cpp.

◆ unregisterObject()

void hpp::fcl::SSaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 79 of file broadphase_SSaP.cpp.

◆ update()

void hpp::fcl::SSaPCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Definition at line 145 of file broadphase_SSaP.cpp.

Member Data Documentation

◆ objs_x

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_x

protected

Objects sorted according to lower x value.

Definition at line 132 of file broadphase_SSaP.h.

◆ objs_y

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_y

protected

Objects sorted according to lower y value.

Definition at line 135 of file broadphase_SSaP.h.

◆ objs_z

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_z

protected

Objects sorted according to lower z value.

Definition at line 138 of file broadphase_SSaP.h.

◆ setup_

bool hpp::fcl::SSaPCollisionManager::setup_

protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Definition at line 142 of file broadphase_SSaP.h.

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDis()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects()

◆ registerObject()

◆ selectOptimalAxis()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update()

Member Data Documentation

◆ objs_x

◆ objs_y

◆ objs_z

◆ setup_