Simple SAP collision manager. More...

#include <hpp/fcl/broadphase/broadphase_SSaP.h>

Inheritance diagram for hpp::fcl::SSaPCollisionManager:

Collaboration diagram for hpp::fcl::SSaPCollisionManager:

Public Types
typedef BroadPhaseCollisionManager	Base

Public Member Functions
	SSaPCollisionManager ()

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

virtual void	update ()
	update the condition of manager More...

void	clear ()
	clear the manager More...

void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager More...

void	collide (CollisionObject obj, CollisionCallBackBase callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	distance (CollisionObject obj, DistanceCallBackBase callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	collide (CollisionCallBackBase *callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	distance (DistanceCallBackBase *callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

void	collide (BroadPhaseCollisionManager other_manager, CollisionCallBackBase callback) const
	perform collision test with objects belonging to another manager More...

void	distance (BroadPhaseCollisionManager other_manager, DistanceCallBackBase callback) const
	perform distance test with objects belonging to another manager More...

bool	empty () const
	whether the manager is empty More...

size_t	size () const
	the number of objects managed by the manager More...

virtual void	getObjects (std::vector< CollisionObject * > &objs) const=0
	return the objects managed by the manager More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

Public Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual	~BroadPhaseCollisionManager ()

virtual void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager More...

virtual void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

virtual void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update More...

virtual std::vector< CollisionObject * >	getObjects () const
	return the objects managed by the manager More...

Protected Member Functions
bool	checkColl (typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, CollisionCallBackBase callback) const
	check collision between one object and a list of objects, return value is whether stop is possible More...

bool	checkDis (typename std::vector< CollisionObject * >::const_iterator pos_start, typename std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible More...

bool	collide_ (CollisionObject obj, CollisionCallBackBase callback) const

bool	distance_ (CollisionObject obj, DistanceCallBackBase callback, FCL_REAL &min_dist) const

Protected Member Functions inherited from hpp::fcl::BroadPhaseCollisionManager
bool	inTestedSet (CollisionObject a, CollisionObject b) const

void	insertTestedSet (CollisionObject a, CollisionObject b) const

Static Protected Member Functions
static int	selectOptimalAxis (const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, typename std::vector< CollisionObject * >::const_iterator &it_beg, typename std::vector< CollisionObject * >::const_iterator &it_end)

Protected Attributes
std::vector< CollisionObject * >	objs_x
	Objects sorted according to lower x value. More...

std::vector< CollisionObject * >	objs_y
	Objects sorted according to lower y value. More...

std::vector< CollisionObject * >	objs_z
	Objects sorted according to lower z value. More...

bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly More...

Protected Attributes inherited from hpp::fcl::BroadPhaseCollisionManager
std::set< std::pair< CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

bool	enable_tested_set_

Detailed Description

Simple SAP collision manager.

Member Typedef Documentation

◆ Base

typedef BroadPhaseCollisionManager hpp::fcl::SSaPCollisionManager::Base

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

hpp::fcl::SSaPCollisionManager::SSaPCollisionManager ( )

Member Function Documentation

◆ checkColl()

bool hpp::fcl::SSaPCollisionManager::checkColl	(	typename std::vector< CollisionObject * >::const_iterator	pos_start,
		typename std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

check collision between one object and a list of objects, return value is whether stop is possible

◆ checkDis()

bool hpp::fcl::SSaPCollisionManager::checkDis	(	typename std::vector< CollisionObject * >::const_iterator	pos_start,
		typename std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

check distance between one object and a list of objects, return value is whether stop is possible

◆ clear()

void hpp::fcl::SSaPCollisionManager::clear ( )

virtual

clear the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [1/3]

void hpp::fcl::SSaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [2/3]

void hpp::fcl::SSaPCollisionManager::collide ( CollisionCallBackBase * callback ) const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide() [3/3]

void hpp::fcl::SSaPCollisionManager::collide	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ collide_()

bool hpp::fcl::SSaPCollisionManager::collide_	(	CollisionObject *	obj,
		CollisionCallBackBase *	callback
	)		const

protected

◆ distance() [1/3]

void hpp::fcl::SSaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance() [2/3]

void hpp::fcl::SSaPCollisionManager::distance	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance() [3/3]

void hpp::fcl::SSaPCollisionManager::distance ( DistanceCallBackBase * callback ) const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ distance_()

bool hpp::fcl::SSaPCollisionManager::distance_	(	CollisionObject *	obj,
		DistanceCallBackBase *	callback,
		FCL_REAL &	min_dist
	)		const

protected

◆ empty()

bool hpp::fcl::SSaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ getObjects() [1/3]

virtual std::vector<CollisionObject*> hpp::fcl::BroadPhaseCollisionManager::getObjects

inline

return the objects managed by the manager

◆ getObjects() [2/3]

void hpp::fcl::SSaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ getObjects() [3/3]

virtual void hpp::fcl::BroadPhaseCollisionManager::getObjects

return the objects managed by the manager

◆ registerObject()

void hpp::fcl::SSaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ selectOptimalAxis()

static int hpp::fcl::SSaPCollisionManager::selectOptimalAxis	(	const std::vector< CollisionObject * > &	objs_x,
		const std::vector< CollisionObject * > &	objs_y,
		const std::vector< CollisionObject * > &	objs_z,
		typename std::vector< CollisionObject * >::const_iterator &	it_beg,
		typename std::vector< CollisionObject * >::const_iterator &	it_end
	)

staticprotected

◆ setup()

void hpp::fcl::SSaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ size()

size_t hpp::fcl::SSaPCollisionManager::size ( ) const

virtual

the number of objects managed by the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ unregisterObject()

void hpp::fcl::SSaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements hpp::fcl::BroadPhaseCollisionManager.

◆ update()

virtual void hpp::fcl::SSaPCollisionManager::update ( )

virtual

update the condition of manager

Implements hpp::fcl::BroadPhaseCollisionManager.

Member Data Documentation

◆ objs_x

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_x

protected

Objects sorted according to lower x value.

◆ objs_y

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_y

protected

Objects sorted according to lower y value.

◆ objs_z

std::vector<CollisionObject*> hpp::fcl::SSaPCollisionManager::objs_z

protected

Objects sorted according to lower z value.

◆ setup_

bool hpp::fcl::SSaPCollisionManager::setup_

protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

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

include/hpp/fcl/broadphase/broadphase_SSaP.h

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ SSaPCollisionManager()

Member Function Documentation

◆ checkColl()

◆ checkDis()

◆ clear()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collide_()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ distance_()

◆ empty()

◆ getObjects() [1/3]

◆ getObjects() [2/3]

◆ getObjects() [3/3]

◆ registerObject()

◆ selectOptimalAxis()

◆ setup()

◆ size()

◆ unregisterObject()

◆ update()

Member Data Documentation

◆ objs_x

◆ objs_y

◆ objs_z

◆ setup_