BroadPhaseManagerBase< Derived > Struct Template Reference

Collaboration diagram for BroadPhaseManagerBase< Derived >:

Public Member Functions
	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.
Derived &	derived ()
const Derived &	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. More...
void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data. More...

Protected Attributes
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 Derived>
struct pinocchio::BroadPhaseManagerBase< Derived >

Definition at line 15 of file broadphase-manager-base.hpp.

Member Function Documentation

update() [1/2]

void update ( bool  compute_local_aabb = false )

inline

Update the manager from the current geometry positions and update the underlying FCL broad phase manager.

Parameters

[in]

compute_local_aabb

whether to recompute the local AABB of the collision geometries which have changed.

Definition at line 82 of file broadphase-manager-base.hpp.

update() [2/2]

void update ( GeometryData *  geom_data_ptr_new )

inline

Update the manager with a new geometry data.

Parameters

[in]

geom_data_ptr_new

pointer to the new geometry data.

Definition at line 92 of file broadphase-manager-base.hpp.

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

• include/pinocchio/collision/broadphase-manager-base.hpp