Template Class BroadPhaseManagerPoolBase

Inheritance Relationships

Base Type

Class Documentation

template<typename _BroadPhaseManagerDerived, typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
class BroadPhaseManagerPoolBase : public pinocchio::GeometryPoolTpl<_Scalar, _Options, JointCollectionTpl>

Public Types

Values:

enumerator Options
typedef GeometryPoolTpl<_Scalar, _Options, JointCollectionTpl> Base
typedef _Scalar Scalar
typedef Base::Model Model
typedef Base::Data Data
typedef Base::DataVector DataVector
typedef Base::GeometryModel GeometryModel
typedef Base::GeometryData GeometryData
typedef std::vector<BroadPhaseManager> BroadPhaseManagerVector

Public Functions

inline BroadPhaseManagerPoolBase(const Model &model, const GeometryModel &geometry_model, const size_t pool_size = (size_t)omp_get_max_threads())

Default constructor from a model and a pool size.

Parameters:
  • model[in] input model used for parallel computations.

  • geometry_model[in] input geometry model used for parallel computations.

  • pool_size[in] total size of the pool.

inline BroadPhaseManagerPoolBase(const BroadPhaseManagerPoolBase &other)

Copy constructor from an other BroadPhaseManagerPoolTpl.

Parameters:

other[in] BroadPhaseManagerPoolTpl to copy.

inline const BroadPhaseManager &getBroadPhaseManager(const size_t index) const

Returns the geometry_data at index.

inline BroadPhaseManager &getBroadPhaseManager(const size_t index)

Returns the geometry_data at index.

inline const BroadPhaseManagerVector &getBroadPhaseManagers() const

Access to the vector of broad phase managers.

inline BroadPhaseManagerVector &getBroadPhaseManagers()

Access to the vector of broad phase managers.

inline virtual void update(const GeometryData &geometry_data)

Update the geometry datas with the new value.

Parameters:

geometry_data[in] new geometry data value

inline bool check() const

Check the validity of the current broadphase.

inline virtual ~BroadPhaseManagerPoolBase()

Destructor

inline const GeometryData &getGeometryData(const size_t index) const

Returns the geometry_data at given index.

inline GeometryData &getGeometryData(const size_t index)

Returns the geometry_data at given index.

inline const GeometryDataVector &getGeometryDatas() const

Returns the vector of Geometry Data.

inline GeometryDataVector &getGeometryDatas()

Returns the vector of Geometry Data.

inline const GeometryModel &getGeometryModel(const size_t index) const

Returns the geometry_model at given index.

inline GeometryModel &getGeometryModel(const size_t index)

Returns the geometry_model at given index.

inline const GeometryModelVector &getGeometryModels() const

Returns the vector of Geometry Model.

inline GeometryModelVector &getGeometryModels()

Returns the vector of Geometry Model.

inline virtual void update(const GeometryData &geometry_data_to_copy)

Update the geometry datas with the new value.

Parameters:

geometry_data_to_copy[in] new geometry data value to copy

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _BroadPhaseManagerDerived BroadPhaseManager

Protected Functions

inline void init()
inline virtual void doResize(const size_t new_size)

Method to implement in the derived classes.

Protected Attributes

BroadPhaseManagerVector m_managers

Broad phase managers associated to the pool.