CollisionCallBackBase Struct Reference

Interface for Pinocchio collision callback functors. More...

#include <pinocchio/collision/broadphase-callbacks.hpp>

Inheritance diagram for CollisionCallBackBase:

Collaboration diagram for CollisionCallBackBase:

Public Member Functions
	CollisionCallBackBase (const GeometryModel &geometry_model, GeometryData &geometry_data)
virtual void	done ()
	Callback method called after the termination of a collisition detection algorithm. The default implementation does nothing.
GeometryData &	getGeometryData ()
const GeometryData &	getGeometryData () const
const GeometryModel &	getGeometryModel () const
virtual bool	stop () const =0
	If true, the stopping criteria related to the collision callback has been met and one can stop.

Public Attributes
bool	accumulate
	Whether the callback is used in an accumulate mode where several collide methods are called successively.
bool	collision
	Whether there is a collision or not.

Protected Attributes
GeometryData *	geometry_data_ptr
	Geometry data associated to the callback.
const GeometryModel *	geometry_model_ptr
	Geometry model associated to the callback.

Detailed Description

Interface for Pinocchio collision callback functors.

Definition at line 19 of file broadphase-callbacks.hpp.

Constructor & Destructor Documentation

CollisionCallBackBase()

CollisionCallBackBase ( const GeometryModel &  geometry_model, GeometryData &  geometry_data  )

inline

Definition at line 21 of file broadphase-callbacks.hpp.

Member Function Documentation

done()

virtual void done ( )

inlinevirtual

Callback method called after the termination of a collisition detection algorithm. The default implementation does nothing.

Reimplemented in CollisionCallBackDefault.

Definition at line 48 of file broadphase-callbacks.hpp.

getGeometryData() [1/2]

GeometryData & getGeometryData ( )

inline

Definition at line 37 of file broadphase-callbacks.hpp.

getGeometryData() [2/2]

const GeometryData & getGeometryData ( ) const

inline

Definition at line 33 of file broadphase-callbacks.hpp.

getGeometryModel()

const GeometryModel & getGeometryModel ( ) const

inline

Definition at line 29 of file broadphase-callbacks.hpp.

stop()

virtual bool stop ( ) const

pure virtual

If true, the stopping criteria related to the collision callback has been met and one can stop.

Implemented in CollisionCallBackDefault.

Member Data Documentation

accumulate

bool accumulate

Whether the callback is used in an accumulate mode where several collide methods are called successively.

Definition at line 63 of file broadphase-callbacks.hpp.

collision

bool collision

Whether there is a collision or not.

Definition at line 59 of file broadphase-callbacks.hpp.

geometry_data_ptr

GeometryData* geometry_data_ptr

protected

Geometry data associated to the callback.

Definition at line 55 of file broadphase-callbacks.hpp.

geometry_model_ptr

const GeometryModel* geometry_model_ptr

protected

Geometry model associated to the callback.

Definition at line 52 of file broadphase-callbacks.hpp.

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

• include/pinocchio/collision/broadphase-callbacks.hpp