Collaboration diagram for GeometryModel:

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Public Member Functions
GeomIndex	addGeometryObject (GeometryObject object, const Model &model, const bool autofillJointParent=false)
	Add a geometry object to a GeometryModel. More...

GeomIndex	getGeometryId (const std::string &name) const
	Return the index of a GeometryObject given by its name. More...

bool	existGeometryName (const std::string &name) const
	Check if a GeometryObject given by its name exists. More...

PINOCCHIO_DEPRECATED const std::string &	getGeometryName (const GeomIndex index) const
	Get the name of a GeometryObject given by its index. 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...

void	addAllCollisionPairs ()
	Add all possible collision pairs. More...

void	removeCollisionPair (const CollisionPair &pair)
	Remove if exists the CollisionPair from the vector collision_pairs. More...

void	removeAllCollisionPairs ()
	Remove all collision pairs from collisionPairs. Same as collisionPairs.clear().

bool	existCollisionPair (const CollisionPair &pair) const
	Check if a collision pair exists in collisionPairs. See also findCollisitionPair(const CollisionPair & pair). More...

PairIndex	findCollisionPair (const CollisionPair &pair) const
	Return the index of a given collision pair in collisionPairs. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Index	ngeoms
	The number of GeometryObjects.

container::aligned_vector< GeometryObject >	geometryObjects
	Vector of GeometryObjects used for collision computations.

std::vector< CollisionPair >	collisionPairs
	Vector of collision pairs.

Friends
std::ostream &	operator<< (std::ostream &os, const GeometryModel &model_geom)

Detailed Description

Definition at line 38 of file multibody/geometry.hpp.

Member Function Documentation

void addAllCollisionPairs ( )

inline

Add all possible collision pairs.

Note: Collision pairs between geometries of having the same parent joint are not added.

Definition at line 186 of file multibody/geometry.hxx.

References GeometryModel::addCollisionPair(), GeometryModel::geometryObjects, GeometryModel::ngeoms, and GeometryModel::removeAllCollisionPairs().

void addCollisionPair ( const CollisionPair & pair )

inline

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.

Definition at line 180 of file multibody/geometry.hxx.

References GeometryModel::collisionPairs, GeometryModel::existCollisionPair(), and GeometryModel::ngeoms.

Referenced by GeometryModel::addAllCollisionPairs().

GeomIndex addGeometryObject	(	GeometryObject	object,
		const Model &	model,
		const bool	autofillJointParent = `false`
	)

inline

Add a geometry object to a GeometryModel.

Parameters

[in]	object	Object
[in]	model	Corresponding model, used to assert the attributes of object.
[in]	autofillJointParent	if true, set jointParent from frameParent.

Returns: The index of the new added GeometryObject in geometryObjects

Note: object is a nonconst copy to ease the insertion code.

Definition at line 54 of file multibody/geometry.hxx.

References Model::frames, GeometryModel::geometryObjects, and GeometryModel::ngeoms.

bool existCollisionPair ( const CollisionPair & pair ) const

inline

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.

Definition at line 213 of file multibody/geometry.hxx.

References GeometryModel::collisionPairs.

Referenced by GeometryModel::addCollisionPair().

bool existGeometryName ( const std::string & name ) const

inline

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.

Definition at line 86 of file multibody/geometry.hxx.

References GeometryModel::geometryObjects, se3::name(), and GeometryObject::name.

PairIndex findCollisionPair ( const CollisionPair & pair ) const

inline

Return the index of a given collision pair in collisionPairs.

Parameters

[in] pair The CollisionPair.

Returns: The index of the CollisionPair in collisionPairs.

Definition at line 220 of file multibody/geometry.hxx.

References GeometryModel::collisionPairs.

GeomIndex getGeometryId ( const std::string & name ) const

inline

Return the index of a GeometryObject given by its name.

Parameters

[in] name Name of the GeometryObject

Returns: Index of the corresponding GeometryObject

Definition at line 74 of file multibody/geometry.hxx.

References GeometryModel::geometryObjects, se3::name(), and GeometryObject::name.

const std::string & getGeometryName ( const GeomIndex index ) const

inline

Get the name of a GeometryObject given by its index.

Parameters

[in] index Index of the GeometryObject

Returns: Name of the GeometryObject

Definition at line 94 of file multibody/geometry.hxx.

References GeometryModel::geometryObjects.

void removeCollisionPair ( const CollisionPair & pair )

inline

Remove if exists the CollisionPair from the vector collision_pairs.

Parameters

[in] pair The CollisionPair to remove.

Definition at line 201 of file multibody/geometry.hxx.

References GeometryModel::collisionPairs, and GeometryModel::ngeoms.

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

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Function Documentation