GeometryModel Struct Reference

Public Types
enum	{ Options = 0 }
typedef std::vector< CollisionPair >	CollisionPairVector
typedef ::pinocchio::GeometryObject	GeometryObject
typedef pinocchio::GeomIndex	GeomIndex
typedef Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXb
typedef double	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
void	addAllCollisionPairs ()
	Add all possible collision pairs. More...
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. More...
GeomIndex	addGeometryObject (const GeometryObject &object)
	Add a geometry object to a GeometryModel. More...
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. More...
bool	existCollisionPair (const CollisionPair &pair) const
	Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair). More...
bool	existGeometryName (const std::string &name) const
	Check if a GeometryObject given by its name exists. More...
PairIndex	findCollisionPair (const CollisionPair &pair) const
	Return the index of a given collision pair in collisionPairs. More...
GeomIndex	getGeometryId (const std::string &name) const
	Return the index of a GeometryObject given by its name. More...
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. More...
void	removeGeometryObject (const std::string &name)
	Remove a GeometryObject. More...
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). More...

Public Attributes
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 22 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]

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

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.

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

• include/pinocchio/multibody/geometry.hpp