Collaboration diagram for GeometryModel:

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Public Types
enum	{ Options = 0 }

typedef std::vector< CollisionPair >	CollisionPairVector

typedef container::aligned_vector< GeometryObject >	GeometryObjectVector

typedef pinocchio::GeomIndex	GeomIndex

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...

template<typename S2 , int O2, template< typename, int > class _JointCollectionTpl>
PINOCCHIO_DEPRECATED GeomIndex	addGeometryObject (GeometryObject object, const ModelTpl< S2, O2, _JointCollectionTpl > &model, const bool autofillJointParent)
	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...

GeomIndex	addGeometryObject (const GeometryObject &object)
	Add a geometry object to a GeometryModel. 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...

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

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...

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 23 of file multibody/geometry.hpp.

Member Function Documentation

void addAllCollisionPairs ( )

Add all possible collision pairs.

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

Referenced by GeometryModel::addGeometryObject().

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.

Referenced by GeometryModel::addGeometryObject().

PINOCCHIO_DEPRECATED GeomIndex addGeometryObject	(	GeometryObject	object,
		const ModelTpl< S2, O2, _JointCollectionTpl > &	model,
		const bool	autofillJointParent
	)

inline

Add a geometry object to a GeometryModel.

Deprecated:: This method has been set to deprecated. Please use other signature of addGeometryObject.

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 71 of file multibody/geometry.hpp.

References GeometryModel::addAllCollisionPairs(), GeometryModel::addCollisionPair(), GeometryModel::existCollisionPair(), GeometryModel::existGeometryName(), GeometryModel::findCollisionPair(), GeometryModel::getGeometryId(), GeometryModel::getGeometryName(), pinocchio::name(), GeometryModel::removeAllCollisionPairs(), and GeometryModel::removeCollisionPair().

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.

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.

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.

Referenced by GeometryModel::addGeometryObject().

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.

Referenced by GeometryModel::addGeometryObject().

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.

Referenced by GeometryModel::addGeometryObject().

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

Referenced by GeometryModel::addGeometryObject().

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

Get the name of a GeometryObject given by its index.

Parameters

[in] index Index of the GeometryObject

Returns: Name of the GeometryObject

Referenced by GeometryModel::addGeometryObject().

void removeCollisionPair ( const CollisionPair & pair )

Remove if exists the CollisionPair from the vector collision_pairs.

Parameters

[in] pair The CollisionPair to remove.

Referenced by GeometryModel::addGeometryObject().

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

multibody/geometry.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Function Documentation