TreeBroadPhaseManagerTpl< _Manager > Struct Template Reference

Inheritance diagram for TreeBroadPhaseManagerTpl< _Manager >:

Collaboration diagram for TreeBroadPhaseManagerTpl< _Manager >:

Public Types
typedef BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >	Base
typedef BroadPhaseManagerTpl< Manager >	BroadPhaseManager
typedef std::vector< BroadPhaseManager >	BroadPhaseManagerVector
typedef std::vector< hpp::fcl::CollisionObject * >	CollisionObjectPointerVector
typedef BroadPhaseManager::GeometryData	GeometryData
typedef BroadPhaseManager::GeometryModel	GeometryModel
typedef _Manager	Manager
typedef BroadPhaseManager::Model	Model

Public Member Functions
	TreeBroadPhaseManagerTpl ()
	Default constructor.
	TreeBroadPhaseManagerTpl (const Model *model_ptr, const GeometryModel *geometry_model_ptr, GeometryData *geometry_data_ptr)
	Constructor from a given geometry model and data. More...
	TreeBroadPhaseManagerTpl (const TreeBroadPhaseManagerTpl &other)
	Copy contructor. More...
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 (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.
bool	collide (TreeBroadPhaseManagerTpl &other_manager, CollisionCallBackBase *callback) const
	Performs collision test with objects belonging to another manager.
BroadPhaseManagerVector &	getBroadPhaseManagers ()
	Returns internal broad phase managers.
const BroadPhaseManagerVector &	getBroadPhaseManagers () const
	Returns internal broad phase managers.
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...
Public Member Functions inherited from BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >
	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.
TreeBroadPhaseManagerTpl< _Manager > &	derived ()
const TreeBroadPhaseManagerTpl< _Manager > &	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 Member Functions
void	init (const size_t njoints)
	Initialialisation.

Protected Attributes
BroadPhaseManagerVector	managers
	the vector of collision objects.
Protected Attributes inherited from BroadPhaseManagerBase< TreeBroadPhaseManagerTpl< _Manager > >
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 _Manager>
struct pinocchio::TreeBroadPhaseManagerTpl< _Manager >

Definition at line 14 of file tree-broadphase-manager.hpp.

Constructor & Destructor Documentation

TreeBroadPhaseManagerTpl() [1/2]

TreeBroadPhaseManagerTpl ( const Model *  model_ptr, const GeometryModel *  geometry_model_ptr, GeometryData *  geometry_data_ptr  )

inline

Constructor from a given geometry model and data.

Parameters

[in]	model_ptr	pointer to the model of the kinematic tree.
[in]	geometry_model_ptr	pointer to the geometry model.
[in]	geometry_data_ptr	pointer to the geometry data.

Definition at line 41 of file tree-broadphase-manager.hpp.

TreeBroadPhaseManagerTpl() [2/2]

TreeBroadPhaseManagerTpl ( const TreeBroadPhaseManagerTpl< _Manager > &  other )

inline

Copy contructor.

Parameters

[in]

other

manager to copy.

Definition at line 54 of file tree-broadphase-manager.hpp.

Member Function Documentation

update() [1/2]

void update

(

bool

compute_local_aabb = false

)

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.

update() [2/2]

void update

(

GeometryData *

geom_data_ptr_new

)

Update the manager with a new geometry data.

Parameters

[in]

geom_data_ptr_new

pointer to the new geometry data.

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

• include/pinocchio/collision/pool/fwd.hpp
• include/pinocchio/collision/tree-broadphase-manager.hpp