GeometryModel Struct Reference

Inheritance diagram for GeometryModel:

Collaboration diagram for GeometryModel:

Public Types
enum	{ Options = traits<GeometryModel>::Options }
typedef std::vector< CollisionPair >	CollisionPairVector
typedef ::pinocchio::GeometryObject	GeometryObject
typedef pinocchio::GeomIndex	GeomIndex
typedef Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXb
typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic, Options >	MatrixXi
typedef traits< GeometryModel >::Scalar	Scalar
typedef SE3Tpl< Scalar, Options >	SE3
Public Types inherited from NumericalBase< GeometryModel >
typedef traits< GeometryModel >::Scalar	Scalar

Public Member Functions
	GeometryModel (const GeometryModel &other)=default
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...
GeometryModel	clone () const
	Create a deep copy of *this.
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 Member Functions inherited from Serializable< GeometryModel >
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
MatrixXi	collisionPairMapping
	Matrix relating the collision pair ID to a pair of two GeometryObject indexes.
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 54 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