Template Struct TreeBroadPhaseManagerTpl
Defined in File tree-broadphase-manager.hpp
Inheritance Relationships
Base Type
public pinocchio::BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >
(Template Struct BroadPhaseManagerBase)
Struct Documentation
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template<typename _Manager>
struct TreeBroadPhaseManagerTpl : public pinocchio::BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager>> Public Types
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typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager>> Base
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typedef BroadPhaseManagerTpl<Manager> BroadPhaseManager
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typedef std::vector<hpp::fcl::CollisionObject*> CollisionObjectPointerVector
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typedef std::vector<BroadPhaseManager> BroadPhaseManagerVector
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typedef BroadPhaseManager::Model Model
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typedef BroadPhaseManager::GeometryModel GeometryModel
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typedef BroadPhaseManager::GeometryData GeometryData
Public Functions
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inline TreeBroadPhaseManagerTpl()
Default constructor.
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inline TreeBroadPhaseManagerTpl(const Model *model_ptr, const GeometryModel *geometry_model_ptr, GeometryData *geometry_data_ptr)
Constructor from a given geometry model and data.
- Parameters:
model_ptr – [in] pointer to the model of the kinematic tree.
geometry_model_ptr – [in] pointer to the geometry model.
geometry_data_ptr – [in] pointer to the geometry data.
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inline TreeBroadPhaseManagerTpl(const TreeBroadPhaseManagerTpl &other)
Copy contructor.
- Parameters:
other – [in] manager to copy.
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void update(bool compute_local_aabb = false)
Update the manager from the current geometry positions and update the underlying FCL broad phase manager.
- Parameters:
compute_local_aabb – [in] whether to recompute the local AABB of the collision geometries which have changed.
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void update(GeometryData *geom_data_ptr_new)
Update the manager with a new geometry data.
- Parameters:
geom_data_ptr_new – [in] pointer to the new geometry data.
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inline ~TreeBroadPhaseManagerTpl()
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bool check() const
Check whether the base broad phase manager is aligned with the current collision_objects.
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bool check(CollisionCallBackBase *callback) const
Check whether the callback is inline with *this.
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bool collide(CollisionObject &obj, CollisionCallBackBase *callback) const
Performs collision test between one object and all the objects belonging to the manager.
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bool collide(CollisionCallBackBase *callback) const
Performs collision test for the objects belonging to the manager.
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bool collide(TreeBroadPhaseManagerTpl &other_manager, CollisionCallBackBase *callback) const
Performs collision test with objects belonging to another manager.
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inline const BroadPhaseManagerVector &getBroadPhaseManagers() const
Returns internal broad phase managers.
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inline BroadPhaseManagerVector &getBroadPhaseManagers()
Returns internal broad phase managers.
Public Members
- EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Manager Manager
Protected Functions
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void init(const size_t njoints)
Initialialisation.
Protected Attributes
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BroadPhaseManagerVector managers
the vector of collision objects.
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typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager>> Base