Inheritance diagram for GeometryData:

Collaboration diagram for GeometryData:

Public Types
enum	{ Options = context::Options }

typedef ::pinocchio::ComputeCollision	ComputeCollision

typedef ::pinocchio::ComputeDistance	ComputeDistance

typedef std::vector< GeomIndex >	GeomIndexList

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

typedef Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXs

typedef context::Scalar	Scalar

typedef SE3Tpl< Scalar, Options >	SE3

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

Public Member Functions
	GeometryData ()
	Empty constructor.

	GeometryData (const GeometryData &other)
	Copy constructor. More...

	GeometryData (const GeometryModel &geom_model)
	Default constructor from a GeometryModel. More...

	~GeometryData ()
	Destructor.

void	activateAllCollisionPairs ()
	Activate all collision pairs. More...

void	activateCollisionPair (const PairIndex pair_id)

void	deactivateAllCollisionPairs ()
	Deactivate all collision pairs. More...

void	deactivateCollisionPair (const PairIndex pair_id)

void	fillInnerOuterObjectMaps (const GeometryModel &geomModel)

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

GeometryData &	operator= (const GeometryData &other)
	Copy operator. More...

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

	PINOCCHIO_ALIGNED_STD_VECTOR (ComputeCollision) collision_functors
	More...

	PINOCCHIO_ALIGNED_STD_VECTOR (ComputeDistance) distance_functors
	More...

	PINOCCHIO_ALIGNED_STD_VECTOR (SE3) oMg
	Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements. More...

void	setActiveCollisionPairs (const GeometryModel &geom_model, const MatrixXb &collision_map, const bool upper=true)
	Set the collision pair association from a given input array. Each entry of the input matrix defines the activation of a given collision pair. More...

void	setGeometryCollisionStatus (const GeometryModel &geom_model, const GeomIndex geom_id, bool enable_collision)
	Enable or disable collision for the given geometry given by its geometry id with all the other geometries registered in the list of collision pairs. More...

void	setSecurityMargins (const GeometryModel &geom_model, const MatrixXs &security_margin_map, const bool upper=true, const bool sync_distance_upper_bound=false)
	Set the security margin of all the collision request in a row, according to the values stored in the associative map. More...

Public Member Functions inherited from Serializable< GeometryData >
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
std::vector< bool >	activeCollisionPairs
	Vector of collision pairs.

PairIndex	collisionPairIndex
	Index of the collision pair. More...

std::vector< fcl::CollisionRequest >	collisionRequests
	Defines what information should be computed by collision test. There is one request per pair of geometries.

std::vector< fcl::CollisionResult >	collisionResults
	Vector gathering the result of the collision computation for all the collision pairs.

std::vector< fcl::DistanceRequest >	distanceRequests
	Defines what information should be computed by distance computation. There is one request per pair of geometries.

std::vector< fcl::DistanceResult >	distanceResults
	Vector gathering the result of the distance computation for all the collision pairs.

std::map< JointIndex, GeomIndexList >	innerObjects
	Map over vector GeomModel::geometryObjects, indexed by joints. More...

std::map< JointIndex, GeomIndexList >	outerObjects
	A list of associated collision GeometryObjects to a given joint Id. More...

std::vector< Scalar >	radius
	Radius of the bodies, i.e. distance of the further point of the geometry model attached to the body from the joint center.

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryData &geomData)

Detailed Description

Definition at line 233 of file geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryData() [1/2]

GeometryData ( const GeometryModel & geom_model )

explicit

Default constructor from a GeometryModel.

Parameters

[in] geom_model GeometryModel associated to the new GeometryData

◆ GeometryData() [2/2]

GeometryData ( const GeometryData & other )

Copy constructor.

Parameters

[in] other GeometryData to copy

Member Function Documentation

◆ activateAllCollisionPairs()

void activateAllCollisionPairs ( )

Activate all collision pairs.

See also: GeomData::deactivateAllCollisionPairs, GeomData::activateCollisionPair, GeomData::deactivateCollisionPair

◆ activateCollisionPair()

void activateCollisionPair ( const PairIndex pair_id )

Activate a collision pair, for which collisions and distances would now be computed.

The collision (resp distance) between two geometries of GeomModel::geometryObjects is computed iff the corresponding pair has been added in GeomModel::collisionPairs AND it is active, i.e. the corresponding boolean in GeomData::activePairs is true. The second condition can be used to temporarily remove a pair without touching the model, in a versatile manner.

Parameters

[in] pair_id the index of the pair in GeomModel::collisionPairs vector.

See also: GeomData

◆ deactivateAllCollisionPairs()

void deactivateAllCollisionPairs ( )

Deactivate all collision pairs.

See also: GeomData::activateAllCollisionPairs, GeomData::activateCollisionPair, GeomData::deactivateCollisionPair

◆ deactivateCollisionPair()

void deactivateCollisionPair ( const PairIndex pair_id )

Deactivate a collision pair.

Calls indeed GeomData::activateCollisionPair(pair_id)

Parameters

[in] pair_id the index of the pair in GeomModel::collisionPairs vector.

See also: GeomData::activateCollisionPair

◆ fillInnerOuterObjectMaps()

void fillInnerOuterObjectMaps ( const GeometryModel & geomModel )

Fill both innerObjects and outerObjects maps, from vectors collisionObjects and collisionPairs.

This simply corresponds to storing in a re-arranged manner the information stored in geomModel.geometryObjects and geomModel.collisionPairs.

Parameters

[in] geomModel the geometry model (const)

Warning: Outer objects are not duplicated (i.e. if a is in outerObjects[b], then b is not in outerObjects[a]).

◆ operator=()

GeometryData& operator= ( const GeometryData & other )

Copy operator.

Parameters

[in] other GeometryData to copy

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/3]

PINOCCHIO_ALIGNED_STD_VECTOR ( ComputeCollision )

Functor associated to the computation of collisions.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/3]

PINOCCHIO_ALIGNED_STD_VECTOR ( ComputeDistance )

Functor associated to the computation of distances.

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/3]

PINOCCHIO_ALIGNED_STD_VECTOR ( SE3 )

Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements.

oMg is used for pinocchio (kinematics) computation but is translated to fcl type for fcl (collision) computation. The copy is done in collisionObjects[i]->setTransform(.)

◆ setActiveCollisionPairs()

void setActiveCollisionPairs	(	const GeometryModel &	geom_model,
		const MatrixXb &	collision_map,
		const bool	upper = `true`
	)

Set the collision pair association from a given input array. Each entry of the input matrix defines the activation of a given collision pair.

Parameters

[in]	geom_model	Geometry model associated to the data.
[in]	collision_map	Associative array.
[in]	upper	Wheter the collision_map is an upper or lower triangular filled array.

◆ setGeometryCollisionStatus()

void setGeometryCollisionStatus	(	const GeometryModel &	geom_model,
		const GeomIndex	geom_id,
		bool	enable_collision
	)

Enable or disable collision for the given geometry given by its geometry id with all the other geometries registered in the list of collision pairs.

Parameters

[in]	geom_model	Geometry model associated to the data.
[in]	geom_id	Index of the geometry.
[in]	enable_collision	If true, the collision will be enable, otherwise disable.

◆ setSecurityMargins()

void setSecurityMargins	(	const GeometryModel &	geom_model,
		const MatrixXs &	security_margin_map,
		const bool	upper = `true`,
		const bool	sync_distance_upper_bound = `false`
	)

Set the security margin of all the collision request in a row, according to the values stored in the associative map.

Parameters

[in]	geom_model	Geometry model associated to the data.
[in]	security_margin_map	Associative map related the security margin of a given input collision pair (i,j).
[in]	upper	Wheter the security_margin_map is an upper or lower triangular filled array.
[in]	sync_distance_upper_bound	Wheter distance_upper_bound have fields to be updated with the security margin value.

Member Data Documentation

◆ collisionPairIndex

PairIndex collisionPairIndex

Index of the collision pair.

It is used by some method to return additional information. For instance, the algo computeCollisions() sets it to the first colliding pair.

Definition at line 303 of file geometry.hpp.

◆ innerObjects

std::map<JointIndex, GeomIndexList> innerObjects

Map over vector GeomModel::geometryObjects, indexed by joints.

The map lists the collision GeometryObjects associated to a given joint Id. Inner objects can be seen as geometry objects that directly move when the associated joint moves

Definition at line 318 of file geometry.hpp.

◆ outerObjects

std::map<JointIndex, GeomIndexList> outerObjects

A list of associated collision GeometryObjects to a given joint Id.

Outer objects can be seen as geometry objects that may often be obstacles to the Inner objects of a given joint

Definition at line 324 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

Constructor & Destructor Documentation

◆ GeometryData() [1/2]

◆ GeometryData() [2/2]

Member Function Documentation

◆ activateAllCollisionPairs()

◆ activateCollisionPair()

◆ deactivateAllCollisionPairs()

◆ deactivateCollisionPair()

◆ fillInnerOuterObjectMaps()

◆ operator=()

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [1/3]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [2/3]

◆ PINOCCHIO_ALIGNED_STD_VECTOR() [3/3]

◆ setActiveCollisionPairs()

◆ setGeometryCollisionStatus()

◆ setSecurityMargins()

Member Data Documentation

◆ collisionPairIndex

◆ innerObjects

◆ outerObjects