GeometryData Struct Reference

Public Types
enum	{ Options = 0 }
typedef std::vector< GeomIndex >	GeomIndexList
typedef double	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
	GeometryData (const GeometryModel &geomModel)
	GeometryData (const GeometryData &other)
void	activateCollisionPair (const PairIndex pairId)
void	deactivateCollisionPair (const PairIndex pairId)
void	fillInnerOuterObjectMaps (const GeometryModel &geomModel)
	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMg
	Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements. More...

Public Attributes
std::vector< bool >	activeCollisionPairs
	Vector of collision pairs.
PairIndex	collisionPairIndex
	Index of the collision pair. More...
std::vector< fcl::CollisionRequest >	collisionRequests
	Defines what information should be computed by collision test. There is one request per pair of geometries.
std::vector< fcl::CollisionResult >	collisionResults
	Vector gathering the result of the collision computation for all the collision pairs.
std::vector< fcl::DistanceRequest >	distanceRequests
	Defines what information should be computed by distance computation. There is one request per pair of geometries.
std::vector< fcl::DistanceResult >	distanceResults
	Vector gathering the result of the distance computation for all the collision pairs.
std::map< JointIndex, GeomIndexList >	innerObjects
	Map over vector GeomModel::geometryObjects, indexed by joints. More...
std::map< JointIndex, GeomIndexList >	outerObjects
	A list of associated collision GeometryObjects to a given joint Id. More...
std::vector< fcl::CollisionObject > collisionObjects	PINOCCHIO_DEPRECATED
	Collision objects (ie a fcl placed geometry). More...
fcl::DistanceRequest distanceRequest	PINOCCHIO_DEPRECATED
	Defines what information should be computed by distance computation. More...
fcl::CollisionRequest collisionRequest	PINOCCHIO_DEPRECATED
	Defines what information should be computed by collision test. More...
std::vector< double >	radius
	Radius of the bodies, i.e. distance of the further point of the geometry model attached to the body from the joint center.

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryData &geomData)

Detailed Description

Definition at line 167 of file geometry.hpp.

Member Function Documentation

activateCollisionPair()

void activateCollisionPair

(

const PairIndex

pairId

)

Activate a collision pair, for which collisions and distances would now be computed.

A collision (resp distance) between to geometries of GeomModel::geometryObjects is computed iff the corresponding pair has been added in GeomModel::collisionPairs AND it is active, i.e. the corresponding boolean in GeomData::activePairs is true. The second condition can be used to temporarily remove a pair without touching the model, in a versatile manner.

Parameters

[in]

pairId

the index of the pair in GeomModel::collisionPairs vector.

 

See also

GeomData

deactivateCollisionPair()

void deactivateCollisionPair

(

const PairIndex

pairId

)

Deactivate a collision pair.

Calls indeed GeomData::activateCollisionPair(pairId)

Parameters

[in]

pairId

the index of the pair in GeomModel::collisionPairs vector.

See also

GeomData::activateCollisionPair

fillInnerOuterObjectMaps()

void fillInnerOuterObjectMaps

(

const GeometryModel &

geomModel

)

Fill both innerObjects and outerObjects maps, from vectors collisionObjects and collisionPairs.

This simply corresponds to storing in a re-arranged manner the information stored in geomModel.geometryObjects and geomModel.collisionPairs.

Parameters

[in]

geomModel

the geometry model (const)

Warning

Outer objects are not duplicated (i.e. if a is in outerObjects[b], then b is not in outerObjects[a]).

PINOCCHIO_ALIGNED_STD_VECTOR()

PINOCCHIO_ALIGNED_STD_VECTOR

(

SE3

)

Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements.

oMg is used for pinocchio (kinematics) computation but is translated to fcl type for fcl (collision) computation. The copy is done in collisionObjects[i]->setTransform(.)

Member Data Documentation

collisionPairIndex

PairIndex collisionPairIndex

Index of the collision pair.

It is used by some method to return additional information. For instance, the algo computeCollisions() sets it to the first colliding pair.

Definition at line 244 of file geometry.hpp.

innerObjects

std::map<JointIndex,GeomIndexList> innerObjects

Map over vector GeomModel::geometryObjects, indexed by joints.

The map lists the collision GeometryObjects associated to a given joint Id. Inner objects can be seen as geometry objects that directly move when the associated joint moves

Definition at line 251 of file geometry.hpp.

outerObjects

std::map<JointIndex,GeomIndexList> outerObjects

A list of associated collision GeometryObjects to a given joint Id.

Outer objects can be seen as geometry objects that may often be obstacles to the Inner objects of given joint

Definition at line 257 of file geometry.hpp.

PINOCCHIO_DEPRECATED [1/3]

std::vector<fcl::CollisionObject> collisionObjects PINOCCHIO_DEPRECATED

Collision objects (ie a fcl placed geometry).

The object contains a pointer on the collision geometries contained in geomModel.geometryObjects.

See also

GeometryModel::geometryObjects and GeometryObjects

Definition at line 198 of file geometry.hpp.

PINOCCHIO_DEPRECATED [2/3]

fcl::DistanceRequest distanceRequest PINOCCHIO_DEPRECATED

Defines what information should be computed by distance computation.

Deprecated:

use distanceRequests instead

Definition at line 204 of file geometry.hpp.

PINOCCHIO_DEPRECATED [3/3]

fcl::CollisionRequest collisionRequest PINOCCHIO_DEPRECATED

Defines what information should be computed by collision test.

Deprecated:

use collisionRequests instead

Definition at line 220 of file geometry.hpp.

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

• src/multibody/geometry.hpp