Template Class GeometryPoolTpl

Inheritance Relationships

Base Type

Derived Type

Class Documentation

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:

enumerator Options
typedef _Scalar Scalar
typedef Base::Model Model
typedef Base::Data Data
typedef Base::ModelVector ModelVector
typedef Base::DataVector DataVector
typedef ::pinocchio::GeometryModel GeometryModel
typedef ::pinocchio::GeometryData GeometryData
typedef std::vector<GeometryModel, Eigen::aligned_allocator<GeometryModel>> GeometryModelVector
typedef std::vector<GeometryData, Eigen::aligned_allocator<GeometryData>> GeometryDataVector

Public Functions

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.

inline GeometryPoolTpl(const GeometryPoolTpl &other)

Copy constructor from an other GeometryPoolTpl.

Parameters:

other[in] GeometryPoolTpl to copy.

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 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 GeometryModelVector &getGeometryModels() const

Returns the vector of Geometry Model.

inline GeometryModelVector &getGeometryModels()

Returns the vector of Geometry Model.

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.

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

inline virtual ~GeometryPoolTpl()

Destructor

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ModelPoolTpl< _Scalar, _Options, JointCollectionTpl > Base

Protected Functions

inline virtual void doResize(const size_t new_size)

Method to implement in the derived classes.

Protected Attributes

GeometryModelVector m_geometry_models

Vector of Geometry Model associated to the pool.

GeometryDataVector m_geometry_datas

Vector of Geometry Data associated to the pool.