GeometryData Struct Reference

Collaboration diagram for GeometryData:

Public Types
enum	{ Options = 0 }
typedef std::vector< GeomIndex >	GeomIndexList
typedef double	Scalar
typedef SE3Tpl< Scalar, Options >	SE3

Public Member Functions
	GeometryData (const GeometryModel &geomModel)
PINOCCHIO_DEPRECATED void	activateCollisionPair (const PairIndex pairId, const bool flag)
void	activateCollisionPair (const PairIndex pairId)
void	deactivateCollisionPair (const PairIndex pairId)
void	fillInnerOuterObjectMaps (const GeometryModel &geomModel)

Public Attributes
std::vector< bool >	activeCollisionPairs
	Vector of collision pairs.
std::vector< fcl::CollisionObject >	collisionObjects
	Collision objects (ie a fcl placed geometry). More...
PairIndex	collisionPairIndex
	index of the collision pair More...
fcl::CollisionRequest	collisionRequest
	Defines what information should be computed by collision test.
std::vector< fcl::CollisionResult >	collisionResults
	Vector gathering the result of the collision computation for all the collision pairs.
fcl::DistanceRequest	distanceRequest
	Defines what information should be computed by distance computation.
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...
container::aligned_vector< SE3 >	oMg
	Vector gathering the SE3 placements of the geometry objects relative to the world. See updateGeometryPlacements to update the placements. More...
std::map< JointIndex, GeomIndexList >	outerObjects
	A list of associated collision GeometryObjects to a given joint Id. More...
std::vector< double >	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 184 of file multibody/geometry.hpp.

Member Function Documentation

PINOCCHIO_DEPRECATED void activateCollisionPair	(	const PairIndex	pairId,
		const bool	flag
	)

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

A collision (resp distance) between to 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]	pairId	the index of the pair in GeomModel::collisionPairs vector.
[in]	flag	value of the activation boolean (true by default).

void activateCollisionPair

(

const PairIndex

pairId

)

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

A collision (resp distance) between to 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]

pairId

the index of the pair in GeomModel::collisionPairs vector.

 

See also

GeomData

void deactivateCollisionPair

(

const PairIndex

pairId

)

Deactivate a collision pair.

Calls indeed GeomData::activateCollisionPair(pairId)

Parameters

[in]

pairId

the index of the pair in GeomModel::collisionPairs vector.

See also

GeomData::activateCollisionPair

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]).

Member Data Documentation

std::vector<fcl::CollisionObject> collisionObjects

Collision objects (ie a fcl placed geometry).

The object contains a pointer on the collision geometries contained in geomModel.geometryObjects.

See also

GeometryModel::geometryObjects and GeometryObjects

Definition at line 209 of file multibody/geometry.hpp.

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 248 of file multibody/geometry.hpp.

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 256 of file multibody/geometry.hpp.

container::aligned_vector<SE3> oMg

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(.)

Definition at line 200 of file multibody/geometry.hpp.

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 given joint

Definition at line 262 of file multibody/geometry.hpp.

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

• multibody/geometry.hpp