Template Class GeometryPoolTpl
Defined in File geometry.hpp
Inheritance Relationships
Base Type
public pinocchio::ModelPoolTpl< _Scalar, _Options, JointCollectionTpl >
(Template Class ModelPoolTpl)
Derived Type
public pinocchio::BroadPhaseManagerPoolBase< _BroadPhaseManagerDerived, _Scalar, _Options, JointCollectionTpl >
(Template Class BroadPhaseManagerPoolBase)
Class Documentation
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template<typename _Scalar, int _Options, template<typename, int> class JointCollectionTpl>
class GeometryPoolTpl : public pinocchio::ModelPoolTpl<_Scalar, _Options, JointCollectionTpl> Subclassed by pinocchio::BroadPhaseManagerPoolBase< _BroadPhaseManagerDerived, _Scalar, _Options, JointCollectionTpl >
Public Types
Values:
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enumerator Options
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enumerator Options
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typedef Base::Model Model
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typedef Base::Data Data
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typedef Base::ModelVector ModelVector
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typedef Base::DataVector DataVector
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typedef ::pinocchio::GeometryModel GeometryModel
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typedef ::pinocchio::GeometryData GeometryData
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typedef std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> GeometryModelVector
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typedef std::vector<GeometryData, Eigen::aligned_allocator<GeometryData>> GeometryDataVector
Public Functions
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inline GeometryPoolTpl(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.
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inline GeometryPoolTpl(const GeometryPoolTpl &other)
Copy constructor from an other GeometryPoolTpl.
- Parameters:
other – [in] GeometryPoolTpl to copy.
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inline const GeometryModel &getGeometryModel(const size_t index) const
Returns the geometry_model at given index.
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inline GeometryModel &getGeometryModel(const size_t index)
Returns the geometry_model at given index.
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inline const GeometryData &getGeometryData(const size_t index) const
Returns the geometry_data at given index.
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inline GeometryData &getGeometryData(const size_t index)
Returns the geometry_data at given index.
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inline const GeometryDataVector &getGeometryDatas() const
Returns the vector of Geometry Data.
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inline GeometryDataVector &getGeometryDatas()
Returns the vector of Geometry Data.
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inline const GeometryModelVector &getGeometryModels() const
Returns the vector of Geometry Model.
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inline GeometryModelVector &getGeometryModels()
Returns the vector of Geometry Model.
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inline void sync(const GeometryModel &geometry_model, const std::vector<GeomIndex> &geometry_indexes)
Synchronize the internal geometry models with the input geometry for all given geometry indexes by cloning the related geometryObjects.
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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
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inline virtual ~GeometryPoolTpl()
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Destructor
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelPoolTpl< _Scalar, _Options, JointCollectionTpl > Base
Protected Functions
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inline virtual void doResize(const size_t new_size)
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Method to implement in the derived classes.
Protected Attributes
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GeometryModelVector m_geometry_models
Vector of Geometry Model associated to the pool.
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GeometryDataVector m_geometry_datas
Vector of Geometry Data associated to the pool.