Inheritance diagram for GeometryModel:

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Collaboration diagram for GeometryModel:

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Public Types
enum	{ Options = traits<GeometryModel>::Options }

typedef std::vector< CollisionPair >	CollisionPairVector

typedef ::pinocchio::GeometryObject	GeometryObject

typedef pinocchio::GeomIndex	GeomIndex

typedef Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXb

typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXi

typedef traits< GeometryModel >::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

Public Types inherited from NumericalBase< GeometryModel >
typedef traits< GeometryModel >::Scalar	Scalar

Public Member Functions
	GeometryModel (const GeometryModel &other)=default

void	addAllCollisionPairs ()
	Add all possible collision pairs.

void	addCollisionPair (const CollisionPair &pair)
	Add a collision pair into the vector of collision_pairs. The method check before if the given CollisionPair is already included.

GeomIndex	addGeometryObject (const GeometryObject &object)
	Add a geometry object to a GeometryModel.

template<typename S2 , int O2, template< typename, int > class _JointCollectionTpl>
GeomIndex	addGeometryObject (const GeometryObject &object, const ModelTpl< S2, O2, _JointCollectionTpl > &model)
	Add a geometry object to a GeometryModel and set its parent joint.

GeometryModel	clone () const
	Create a deep copy of *this.

bool	existCollisionPair (const CollisionPair &pair) const
	Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair).

bool	existGeometryName (const std::string &name) const
	Check if a GeometryObject given by its name exists.

PairIndex	findCollisionPair (const CollisionPair &pair) const
	Return the index of a given collision pair in collisionPairs.

GeomIndex	getGeometryId (const std::string &name) const
	Return the index of a GeometryObject given by its name.

bool	operator!= (const GeometryModel &other) const
	Returns true if *this and other are not equal.

bool	operator== (const GeometryModel &other) const
	Returns true if *this and other are equal.

typedef	PINOCCHIO_ALIGNED_STD_VECTOR (GeometryObject) GeometryObjectVector

void	removeAllCollisionPairs ()
	Remove all collision pairs from collisionPairs. Same as collisionPairs.clear().

void	removeCollisionPair (const CollisionPair &pair)
	Remove if exists the CollisionPair from the vector collision_pairs.

void	removeGeometryObject (const std::string &name)
	Remove a GeometryObject.

void	setCollisionPairs (const MatrixXb &collision_map, const bool upper=true)
	Set the collision pairs from a given input array. Each entry of the input matrix defines the activation of a given collision pair (map[i,j] == true means that the pair (i,j) is active).

Public Member Functions inherited from Serializable< GeometryModel >
void	loadFromBinary (boost::asio::streambuf &container)
	Loads a Derived object from a binary container.

void	loadFromBinary (const std::string &filename)
	Loads a Derived object from an binary file.

void	loadFromBinary (StaticBuffer &container)
	Loads a Derived object from a static binary container.

void	loadFromString (const std::string &str)
	Loads a Derived object from a string.

void	loadFromStringStream (std::istringstream &is)
	Loads a Derived object from a stream string.

void	loadFromText (const std::string &filename)
	Loads a Derived object from a text file.

void	loadFromXML (const std::string &filename, const std::string &tag_name)
	Loads a Derived object from an XML file.

void	saveToBinary (boost::asio::streambuf &container) const
	Saves a Derived object as a binary container.

void	saveToBinary (const std::string &filename) const
	Saves a Derived object as an binary file.

void	saveToBinary (StaticBuffer &container) const
	Saves a Derived object as a static binary container.

std::string	saveToString () const
	Saves a Derived object to a string.

void	saveToStringStream (std::stringstream &ss) const
	Saves a Derived object to a string stream.

void	saveToText (const std::string &filename) const
	Saves a Derived object as a text file.

void	saveToXML (const std::string &filename, const std::string &tag_name) const
	Saves a Derived object as an XML file.

Public Attributes
MatrixXi	collisionPairMapping
	Matrix relating the collision pair ID to a pair of two GeometryObject indexes.

CollisionPairVector	collisionPairs
	Vector of collision pairs.

GeometryObjectVector	geometryObjects
	Vector of GeometryObjects used for collision computations.

Index	ngeoms
	The number of GeometryObjects.

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryModel &model_geom)

Detailed Description

Definition at line 54 of file geometry.hpp.

Member Typedef Documentation

◆ CollisionPairVector

typedef std::vector<CollisionPair> CollisionPairVector

Definition at line 70 of file geometry.hpp.

◆ GeometryObject

typedef ::pinocchio::GeometryObject GeometryObject

Definition at line 68 of file geometry.hpp.

◆ GeomIndex

typedef pinocchio::GeomIndex GeomIndex

Definition at line 74 of file geometry.hpp.

◆ MatrixXb

typedef Eigen::Matrix<bool, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXb

Definition at line 71 of file geometry.hpp.

◆ MatrixXi

typedef Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Options> MatrixXi

Definition at line 72 of file geometry.hpp.

◆ Scalar

typedef traits<GeometryModel>::Scalar Scalar

Definition at line 60 of file geometry.hpp.

◆ SE3

typedef SE3Tpl<Scalar, Options> SE3

Definition at line 66 of file geometry.hpp.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Definition at line 61 of file geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryModel()

GeometryModel ( )

inline

Definition at line 76 of file geometry.hpp.

◆ ~GeometryModel()

~GeometryModel ( )

inline

Definition at line 85 of file geometry.hpp.

Member Function Documentation

◆ addAllCollisionPairs()

void addAllCollisionPairs ( )

Add all possible collision pairs.

Note: Collision pairs between geometries having the same parent joint are not added.

◆ addCollisionPair()

void addCollisionPair ( const CollisionPair & pair )

Add a collision pair into the vector of collision_pairs. The method check before if the given CollisionPair is already included.

Parameters

[in] pair The CollisionPair to add.

◆ addGeometryObject() [1/2]

GeomIndex addGeometryObject ( const GeometryObject & object )

Add a geometry object to a GeometryModel.

Parameters

[in] object Object

Returns: The index of the new added GeometryObject in geometryObjects.

◆ addGeometryObject() [2/2]

template<typename S2 , int O2, template< typename, int > class _JointCollectionTpl>

GeomIndex addGeometryObject	(	const GeometryObject &	object,
		const ModelTpl< S2, O2, _JointCollectionTpl > &	model
	)

Add a geometry object to a GeometryModel and set its parent joint.

Parameters

[in]	object	Object
[in]	model	Corresponding model, used to assert the attributes of object.

Returns: The index of the new added GeometryObject in geometryObjects

Note: object is a nonconst copy to ease the insertion code.

◆ existCollisionPair()

bool existCollisionPair ( const CollisionPair & pair ) const

Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair).

Parameters

[in] pair The CollisionPair.

Returns: True if the CollisionPair exists, false otherwise.

◆ existGeometryName()

bool existGeometryName ( const std::string & name ) const

Check if a GeometryObject given by its name exists.

Parameters

[in] name Name of the GeometryObject

Returns: True if the GeometryObject exists in the geometryObjects.

◆ findCollisionPair()

PairIndex findCollisionPair ( const CollisionPair & pair ) const

Return the index of a given collision pair in collisionPairs.

Parameters

[in] pair The CollisionPair.

Returns: The index of the CollisionPair in collisionPairs.

◆ getGeometryId()

GeomIndex getGeometryId ( const std::string & name ) const

Return the index of a GeometryObject given by its name.

Parameters

[in] name Name of the GeometryObject

Returns: Index of the corresponding GeometryObject

◆ operator!=()

bool operator!= ( const GeometryModel & other ) const

inline

Returns true if *this and other are not equal.

Definition at line 210 of file geometry.hpp.

◆ operator==()

bool operator== ( const GeometryModel & other ) const

inline

Returns true if *this and other are equal.

Definition at line 200 of file geometry.hpp.

◆ removeCollisionPair()

void removeCollisionPair ( const CollisionPair & pair )

Remove if exists the CollisionPair from the vector collision_pairs.

Parameters

[in] pair The CollisionPair to remove.

◆ removeGeometryObject()

void removeGeometryObject ( const std::string & name )

Remove a GeometryObject.

Parameters

[in] name Name of the GeometryObject

@node Remove also the collision pairs that contain the object.

◆ setCollisionPairs()

void setCollisionPairs	(	const MatrixXb &	collision_map,
		const bool	upper = `true`
	)

Set the collision pairs from a given input array. Each entry of the input matrix defines the activation of a given collision pair (map[i,j] == true means that the pair (i,j) is active).

Parameters

[in]	collision_map	Associative array.
[in]	upper	Wheter the collision_map is an upper or lower triangular filled array.

Member Data Documentation

◆ collisionPairMapping

MatrixXi collisionPairMapping

Matrix relating the collision pair ID to a pair of two GeometryObject indexes.

Definition at line 227 of file geometry.hpp.

◆ collisionPairs

CollisionPairVector collisionPairs

Vector of collision pairs.

Definition at line 224 of file geometry.hpp.

◆ geometryObjects

GeometryObjectVector geometryObjects

Vector of GeometryObjects used for collision computations.

Definition at line 221 of file geometry.hpp.

◆ ngeoms

Index ngeoms

The number of GeometryObjects.

Definition at line 218 of file geometry.hpp.

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

include/pinocchio/multibody/geometry.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ CollisionPairVector

◆ GeometryObject

◆ GeomIndex

◆ MatrixXb

◆ MatrixXi

◆ Scalar

◆ SE3

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ GeometryModel()

◆ ~GeometryModel()

Member Function Documentation

◆ addAllCollisionPairs()

◆ addCollisionPair()

◆ addGeometryObject() [1/2]

◆ addGeometryObject() [2/2]

◆ existCollisionPair()

◆ existGeometryName()

◆ findCollisionPair()

◆ getGeometryId()

◆ operator!=()

◆ operator==()

◆ removeCollisionPair()

◆ removeGeometryObject()

◆ setCollisionPairs()

Member Data Documentation

◆ collisionPairMapping

◆ collisionPairs

◆ geometryObjects

◆ ngeoms