#include <fwd.hpp>

Public Types
typedef BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >	Base

typedef BroadPhaseManagerTpl< Manager >	BroadPhaseManager

typedef std::vector< BroadPhaseManager >	BroadPhaseManagerVector

typedef std::vector< hpp::fcl::CollisionObject * >	CollisionObjectPointerVector

typedef BroadPhaseManager::GeometryData	GeometryData

typedef BroadPhaseManager::GeometryModel	GeometryModel

typedef BroadPhaseManager::Model	Model

Public Member Functions
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 (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...

bool	collide (TreeBroadPhaseManagerTpl &other_manager, CollisionCallBackBase *callback) const
	Performs collision test with objects belonging to another manager. More...

BroadPhaseManagerVector &	getBroadPhaseManagers ()
	Returns internal broad phase managers. More...

const BroadPhaseManagerVector &	getBroadPhaseManagers () const
	Returns internal broad phase managers. More...

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...

	TreeBroadPhaseManagerTpl ()
	Default constructor. More...

	TreeBroadPhaseManagerTpl (const Model model_ptr, const GeometryModel geometry_model_ptr, GeometryData *geometry_data_ptr)
	Constructor from a given geometry model and data. More...

	TreeBroadPhaseManagerTpl (const TreeBroadPhaseManagerTpl &other)
	Copy contructor. 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...

	~TreeBroadPhaseManagerTpl ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Manager	Manager

Protected Member Functions
void	init (const size_t njoints)
	Initialialisation. More...

Protected Attributes
BroadPhaseManagerVector	managers
	the vector of collision objects. More...

Detailed Description

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

Definition at line 38 of file collision/pool/fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename _Manager >

typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager> > pinocchio::TreeBroadPhaseManagerTpl< _Manager >::Base

Definition at line 19 of file collision/tree-broadphase-manager.hpp.

◆ BroadPhaseManager

template<typename _Manager >

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

Definition at line 20 of file collision/tree-broadphase-manager.hpp.

◆ BroadPhaseManagerVector

template<typename _Manager >

typedef std::vector<BroadPhaseManager> pinocchio::TreeBroadPhaseManagerTpl< _Manager >::BroadPhaseManagerVector

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

◆ CollisionObjectPointerVector

template<typename _Manager >

typedef std::vector<hpp::fcl::CollisionObject *> pinocchio::TreeBroadPhaseManagerTpl< _Manager >::CollisionObjectPointerVector

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

◆ GeometryData

template<typename _Manager >

typedef BroadPhaseManager::GeometryData pinocchio::TreeBroadPhaseManagerTpl< _Manager >::GeometryData

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

◆ GeometryModel

template<typename _Manager >

typedef BroadPhaseManager::GeometryModel pinocchio::TreeBroadPhaseManagerTpl< _Manager >::GeometryModel

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

◆ Model

template<typename _Manager >

typedef BroadPhaseManager::Model pinocchio::TreeBroadPhaseManagerTpl< _Manager >::Model

Definition at line 25 of file collision/tree-broadphase-manager.hpp.

Constructor & Destructor Documentation

◆ TreeBroadPhaseManagerTpl() [1/3]

template<typename _Manager >

pinocchio::TreeBroadPhaseManagerTpl< _Manager >::TreeBroadPhaseManagerTpl ( )

inline

Default constructor.

Definition at line 30 of file collision/tree-broadphase-manager.hpp.

◆ TreeBroadPhaseManagerTpl() [2/3]

template<typename _Manager >

pinocchio::TreeBroadPhaseManagerTpl< _Manager >::TreeBroadPhaseManagerTpl	(	const Model *	model_ptr,
		const GeometryModel *	geometry_model_ptr,
		GeometryData *	geometry_data_ptr
	)

inline

Constructor from a given geometry model and data.

Parameters

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

Definition at line 41 of file collision/tree-broadphase-manager.hpp.

◆ TreeBroadPhaseManagerTpl() [3/3]

template<typename _Manager >

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

inline

Copy contructor.

Parameters

[in] other manager to copy.

Definition at line 54 of file collision/tree-broadphase-manager.hpp.

◆ ~TreeBroadPhaseManagerTpl()

template<typename _Manager >

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

inline

Definition at line 80 of file collision/tree-broadphase-manager.hpp.

Member Function Documentation

◆ check() [1/2]

template<typename _Manager >

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

Check whether the callback is inline with *this.

◆ collide() [1/3]

template<typename _Manager >

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

Performs collision test for the objects belonging to the manager.

◆ collide() [2/3]

template<typename _Manager >

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

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

◆ collide() [3/3]

template<typename _Manager >

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

Performs collision test with objects belonging to another manager.

◆ getBroadPhaseManagers() [1/2]

template<typename _Manager >

BroadPhaseManagerVector& pinocchio::TreeBroadPhaseManagerTpl< _Manager >::getBroadPhaseManagers ( )

inline

Returns internal broad phase managers.

Definition at line 118 of file collision/tree-broadphase-manager.hpp.

◆ getBroadPhaseManagers() [2/2]

template<typename _Manager >

const BroadPhaseManagerVector& pinocchio::TreeBroadPhaseManagerTpl< _Manager >::getBroadPhaseManagers ( ) const

inline

Returns internal broad phase managers.

Definition at line 112 of file collision/tree-broadphase-manager.hpp.

◆ getGeometryData() [1/2]

template<typename _Manager >

GeometryData& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryData

inline

Returns the geometry data associated to the manager.

Definition at line 145 of file collision/broadphase-manager-base.hpp.

◆ getGeometryData() [2/2]

template<typename _Manager >

const GeometryData& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryData

inline

Returns the geometry data associated to the manager.

Definition at line 139 of file collision/broadphase-manager-base.hpp.

◆ getGeometryModel()

template<typename _Manager >

const GeometryModel& pinocchio::BroadPhaseManagerBase< Derived >::getGeometryModel

inline

Returns the geometry model associated to the manager.

Definition at line 133 of file collision/broadphase-manager-base.hpp.

◆ getModel()

template<typename _Manager >

const Model& pinocchio::BroadPhaseManagerBase< Derived >::getModel

inline

Returns the model associated to the manager.

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

◆ init()

template<typename _Manager >

void pinocchio::TreeBroadPhaseManagerTpl< _Manager >::init ( const size_t njoints )

protected

Initialialisation.

◆ update() [1/2]

template<typename _Manager >

void pinocchio::TreeBroadPhaseManagerTpl< _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::TreeBroadPhaseManagerTpl< _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

◆ Manager

template<typename _Manager >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Manager pinocchio::TreeBroadPhaseManagerTpl< _Manager >::Manager

Definition at line 18 of file collision/tree-broadphase-manager.hpp.

◆ managers

template<typename _Manager >

BroadPhaseManagerVector pinocchio::TreeBroadPhaseManagerTpl< _Manager >::managers

protected

the vector of collision objects.

Definition at line 125 of file collision/tree-broadphase-manager.hpp.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ BroadPhaseManager

◆ BroadPhaseManagerVector

◆ CollisionObjectPointerVector

◆ GeometryData

◆ GeometryModel

◆ Model

Constructor & Destructor Documentation

◆ TreeBroadPhaseManagerTpl() [1/3]

◆ TreeBroadPhaseManagerTpl() [2/3]

◆ TreeBroadPhaseManagerTpl() [3/3]

◆ ~TreeBroadPhaseManagerTpl()

Member Function Documentation

◆ check() [1/2]

◆ check() [2/2]

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ getBroadPhaseManagers() [1/2]

◆ getBroadPhaseManagers() [2/2]

◆ getGeometryData() [1/2]

◆ getGeometryData() [2/2]

◆ getGeometryModel()

◆ getModel()

◆ init()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ Manager

◆ managers

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