Inheritance diagram for TreeBroadPhaseManagerTpl< _Manager >:

Collaboration diagram for TreeBroadPhaseManagerTpl< _Manager >:

[legend]

Public Types
typedef BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >	Base

typedef BroadPhaseManagerTpl< Manager >	BroadPhaseManager

typedef std::vector< BroadPhaseManager >	BroadPhaseManagerVector

typedef std::vector< hpp::fcl::CollisionObject * >	CollisionObjectPointerVector

typedef BroadPhaseManager::GeometryData	GeometryData

typedef BroadPhaseManager::GeometryModel	GeometryModel

typedef _Manager	Manager

typedef BroadPhaseManager::Model	Model

Public Member Functions
	TreeBroadPhaseManagerTpl ()
	Default constructor.

	TreeBroadPhaseManagerTpl (const Model model_ptr, const GeometryModel geometry_model_ptr, GeometryData *geometry_data_ptr)
	Constructor from a given geometry model and data.

	TreeBroadPhaseManagerTpl (const TreeBroadPhaseManagerTpl &other)
	Copy contructor.

bool	check () const
	Check whether the base broad phase manager is aligned with the current collision_objects.

bool	check (CollisionCallBackBase *callback) const
	Check whether the callback is inline with *this.

bool	collide (CollisionCallBackBase *callback) const
	Performs collision test for the objects belonging to the manager.

bool	collide (CollisionObject &obj, CollisionCallBackBase *callback) const
	Performs collision test between one object and all the objects belonging to the manager.

bool	collide (TreeBroadPhaseManagerTpl &other_manager, CollisionCallBackBase *callback) const
	Performs collision test with objects belonging to another manager.

BroadPhaseManagerVector &	getBroadPhaseManagers ()
	Returns internal broad phase managers.

const BroadPhaseManagerVector &	getBroadPhaseManagers () const
	Returns internal broad phase managers.

void	update (bool compute_local_aabb=false)
	Update the manager from the current geometry positions and update the underlying FCL broad phase manager.

void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data.

Public Member Functions inherited from BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >
	BroadPhaseManagerBase ()
	Default constructor.

	BroadPhaseManagerBase (const BroadPhaseManagerBase &other)
	Copy constructor.

	BroadPhaseManagerBase (const Model model_ptr, const GeometryModel geometry_model_ptr, GeometryData *geometry_data_ptr)
	Constructor from a given geometry model and geometry data.

bool	check () const
	Check whether the base broad phase manager is aligned with the current collision_objects.

bool	check (CollisionCallBackBase *callback) const
	Check whether the callback is inline with *this.

bool	collide (BroadPhaseManagerBase &other_manager, CollisionCallBackBase *callback) const
	Performs collision test with objects belonging to another manager.

bool	collide (CollisionCallBackBase *callback) const
	Performs collision test for the objects belonging to the manager.

bool	collide (CollisionObject &obj, CollisionCallBackBase *callback) const
	Performs collision test between one object and all the objects belonging to the manager.

TreeBroadPhaseManagerTpl< _Manager > &	derived ()

const TreeBroadPhaseManagerTpl< _Manager > &	derived () const

GeometryData &	getGeometryData ()
	Returns the geometry data associated to the manager.

const GeometryData &	getGeometryData () const
	Returns the geometry data associated to the manager.

const GeometryModel &	getGeometryModel () const
	Returns the geometry model associated to the manager.

const Model &	getModel () const
	Returns the model associated to the manager.

BroadPhaseManagerBase &	operator= (const BroadPhaseManagerBase &other)

void	update (bool compute_local_aabb=false)
	Update the manager from the current geometry positions and update the underlying FCL broad phase manager.

void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data.

Protected Member Functions
void	init (const size_t njoints)
	Initialialisation.

Protected Attributes
BroadPhaseManagerVector	managers
	the vector of collision objects.

Protected Attributes inherited from BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >
GeometryData *	geometry_data_ptr
	Pointer to the geometry data.

const GeometryModel *	geometry_model_ptr
	Pointer to the geometry model.

const Model *	model_ptr
	Pointer to the model.

Detailed Description

template<typename _Manager>
struct pinocchio::TreeBroadPhaseManagerTpl< _Manager >

Definition at line 14 of file tree-broadphase-manager.hpp.

Member Typedef Documentation

◆ Base

template<typename _Manager >

typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager> > Base

Definition at line 19 of file tree-broadphase-manager.hpp.

◆ BroadPhaseManager

template<typename _Manager >

typedef BroadPhaseManagerTpl<Manager> BroadPhaseManager

Definition at line 20 of file tree-broadphase-manager.hpp.

◆ BroadPhaseManagerVector

template<typename _Manager >

typedef std::vector<BroadPhaseManager> BroadPhaseManagerVector

Definition at line 23 of file tree-broadphase-manager.hpp.

◆ CollisionObjectPointerVector

template<typename _Manager >

typedef std::vector<hpp::fcl::CollisionObject *> CollisionObjectPointerVector

Definition at line 22 of file tree-broadphase-manager.hpp.

◆ GeometryData

template<typename _Manager >

typedef BroadPhaseManager::GeometryData GeometryData

Definition at line 27 of file tree-broadphase-manager.hpp.

◆ GeometryModel

template<typename _Manager >

typedef BroadPhaseManager::GeometryModel GeometryModel

Definition at line 26 of file tree-broadphase-manager.hpp.

◆ Manager

template<typename _Manager >

typedef _Manager Manager

Definition at line 18 of file tree-broadphase-manager.hpp.

◆ Model

template<typename _Manager >

typedef BroadPhaseManager::Model Model

Definition at line 25 of file tree-broadphase-manager.hpp.

Constructor & Destructor Documentation

◆ TreeBroadPhaseManagerTpl() [1/3]

template<typename _Manager >

TreeBroadPhaseManagerTpl ( )

inline

Default constructor.

Definition at line 30 of file tree-broadphase-manager.hpp.

◆ TreeBroadPhaseManagerTpl() [2/3]

template<typename _Manager >

TreeBroadPhaseManagerTpl	(	const Model *	model_ptr,
		const GeometryModel *	geometry_model_ptr,
		GeometryData *	geometry_data_ptr
	)

inline

Constructor from a given geometry model and data.

Parameters

[in]	model_ptr	pointer to the model of the kinematic tree.
[in]	geometry_model_ptr	pointer to the geometry model.
[in]	geometry_data_ptr	pointer to the geometry data.

Definition at line 41 of file tree-broadphase-manager.hpp.