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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_collision_tree_broadphase_manager_hpp__ |
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#define __pinocchio_collision_tree_broadphase_manager_hpp__ |
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#include "pinocchio/collision/broadphase-manager.hpp" |
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namespace pinocchio |
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{ |
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template<typename _Manager> |
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struct TreeBroadPhaseManagerTpl : public BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager>> |
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{ |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Manager Manager; |
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typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager>> Base; |
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typedef BroadPhaseManagerTpl<Manager> BroadPhaseManager; |
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typedef std::vector<hpp::fcl::CollisionObject *> CollisionObjectPointerVector; |
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typedef std::vector<BroadPhaseManager> BroadPhaseManagerVector; |
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typedef typename BroadPhaseManager::Model Model; |
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typedef typename BroadPhaseManager::GeometryModel GeometryModel; |
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typedef typename BroadPhaseManager::GeometryData GeometryData; |
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/// @brief Default constructor. |
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TreeBroadPhaseManagerTpl() // for std::vector |
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: Base() |
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{ |
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} |
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/// @brief Constructor from a given geometry model and data. |
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/// |
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/// \param[in] model_ptr pointer to the model of the kinematic tree. |
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/// \param[in] geometry_model_ptr pointer to the geometry model. |
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/// \param[in] geometry_data_ptr pointer to the geometry data. |
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/// |
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TreeBroadPhaseManagerTpl( |
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const Model * model_ptr, |
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const GeometryModel * geometry_model_ptr, |
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GeometryData * geometry_data_ptr) |
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: Base(model_ptr, geometry_model_ptr, geometry_data_ptr) |
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{ |
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init(static_cast<size_t>(model_ptr->njoints)); |
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} |
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/// @brief Copy contructor. |
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/// |
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/// \param[in] other manager to copy. |
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/// |
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TreeBroadPhaseManagerTpl(const TreeBroadPhaseManagerTpl & other) |
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: Base(other) |
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{ |
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init(other.managers.size()); |
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} |
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using Base::getGeometryData; |
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using Base::getGeometryModel; |
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using Base::getModel; |
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/// |
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/// @brief Update the manager from the current geometry positions and update the underlying FCL |
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/// broad phase manager. |
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/// |
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/// @param[in] compute_local_aabb whether to recompute the local AABB of the collision |
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/// geometries which have changed. |
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/// |
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void update(bool compute_local_aabb = false); |
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/// |
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/// @brief Update the manager with a new geometry data. |
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/// |
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/// \param[in] geom_data_ptr_new pointer to the new geometry data. |
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/// |
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void update(GeometryData * geom_data_ptr_new); |
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~TreeBroadPhaseManagerTpl() |
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{ |
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} |
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/// @brief Check whether the base broad phase manager is aligned with the current |
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/// collision_objects. |
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bool check() const; |
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/// @brief Check whether the callback is inline with *this |
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bool check(CollisionCallBackBase * callback) const; |
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/// @brief Performs collision test between one object and all the objects belonging to the |
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/// manager. |
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bool collide(CollisionObject & obj, CollisionCallBackBase * callback) const; |
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/// @brief Performs collision test for the objects belonging to the manager. |
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bool collide(CollisionCallBackBase * callback) const; |
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/// @brief Performs collision test with objects belonging to another manager. |
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bool collide(TreeBroadPhaseManagerTpl & other_manager, CollisionCallBackBase * callback) const; |
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// /// @brief Performs distance computation between one object and all the objects belonging to |
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// the manager void distance(CollisionObject* obj, DistanceCallBackBase * callback) const; |
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// /// @brief Performs distance test for the objects belonging to the manager (i.e., N^2 self |
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// distance) void distance(DistanceCallBackBase * callback) const; |
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// /// @brief Performs distance test with objects belonging to another manager |
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// void distance(TreeBroadPhaseManagerTpl* other_manager, DistanceCallBackBase * callback) |
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// const; |
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/// @brief Returns internal broad phase managers. |
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const BroadPhaseManagerVector & getBroadPhaseManagers() const |
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{ |
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return managers; |
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} |
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/// @brief Returns internal broad phase managers. |
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BroadPhaseManagerVector & getBroadPhaseManagers() |
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{ |
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return managers; |
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} |
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protected: |
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/// @brief the vector of collision objects. |
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BroadPhaseManagerVector managers; |
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/// @brief Initialialisation |
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void init(const size_t njoints); |
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}; // struct BroadPhaseManagerTpl<BroadPhaseManagerDerived> |
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} // namespace pinocchio |
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/* --- Details -------------------------------------------------------------------- */ |
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#include "pinocchio/collision/tree-broadphase-manager.hxx" |
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#endif // ifndef __pinocchio_collision_tree_broadphase_manager_hpp__ |
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