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.
	TreeBroadPhaseManagerTpl (const TreeBroadPhaseManagerTpl &other)
	Copy contructor.
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.
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.
void	update (bool compute_local_aabb=false)
	Update the manager from the current geometry positions and update the underlying FCL broad phase manager.
void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data.
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.
void	update (GeometryData *geom_data_ptr_new)
	Update the manager with a new geometry data.

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.

Member Typedef Documentation

◆ Base

template<typename _Manager>

typedef BroadPhaseManagerBase<TreeBroadPhaseManagerTpl<_Manager> > Base

Definition at line 19 of file tree-broadphase-manager.hpp.

◆ BroadPhaseManager

template<typename _Manager>

typedef BroadPhaseManagerTpl<Manager> BroadPhaseManager

Definition at line 20 of file tree-broadphase-manager.hpp.

◆ BroadPhaseManagerVector

template<typename _Manager>

typedef std::vector<BroadPhaseManager> BroadPhaseManagerVector

Definition at line 23 of file tree-broadphase-manager.hpp.

◆ CollisionObjectPointerVector

template<typename _Manager>

typedef std::vector<hpp::fcl::CollisionObject *> CollisionObjectPointerVector

Definition at line 22 of file tree-broadphase-manager.hpp.

◆ GeometryData

template<typename _Manager>

typedef BroadPhaseManager::GeometryData GeometryData

Definition at line 27 of file tree-broadphase-manager.hpp.

◆ GeometryModel

template<typename _Manager>

typedef BroadPhaseManager::GeometryModel GeometryModel

Definition at line 26 of file tree-broadphase-manager.hpp.

◆ Manager

template<typename _Manager>

typedef _Manager Manager

Definition at line 18 of file tree-broadphase-manager.hpp.

◆ Model

template<typename _Manager>

typedef BroadPhaseManager::Model Model

Definition at line 25 of file tree-broadphase-manager.hpp.

Constructor & Destructor Documentation

◆ TreeBroadPhaseManagerTpl() [1/3]

template<typename _Manager>

TreeBroadPhaseManagerTpl ( )

inline

Default constructor.

Definition at line 30 of file tree-broadphase-manager.hpp.

◆ TreeBroadPhaseManagerTpl() [2/3]

template<typename _Manager>

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() [3/3]

template<typename _Manager>

TreeBroadPhaseManagerTpl ( const TreeBroadPhaseManagerTpl< _Manager > & other )

inline

Copy contructor.

Parameters

[in] other manager to copy.

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

◆ ~TreeBroadPhaseManagerTpl()

template<typename _Manager>

~TreeBroadPhaseManagerTpl ( )

inline

Definition at line 80 of file tree-broadphase-manager.hpp.

Member Function Documentation

◆ getBroadPhaseManagers() [1/2]

template<typename _Manager>

BroadPhaseManagerVector & getBroadPhaseManagers ( )

inline

Returns internal broad phase managers.

Definition at line 118 of file tree-broadphase-manager.hpp.

◆ getBroadPhaseManagers() [2/2]

template<typename _Manager>

const BroadPhaseManagerVector & getBroadPhaseManagers ( ) const

inline

Returns internal broad phase managers.

Definition at line 112 of file tree-broadphase-manager.hpp.

◆ getGeometryData() [1/2]

template<typename _Manager>

GeometryData & getGeometryData ( )

inline

Returns the geometry data associated to the manager.

Definition at line 145 of file broadphase-manager-base.hpp.

◆ getGeometryData() [2/2]

template<typename _Manager>

const GeometryData & getGeometryData ( ) const

inline

Returns the geometry data associated to the manager.

Definition at line 139 of file broadphase-manager-base.hpp.

◆ getGeometryModel()

template<typename _Manager>

const GeometryModel & getGeometryModel ( ) const

inline

Returns the geometry model associated to the manager.

Definition at line 133 of file broadphase-manager-base.hpp.

◆ getModel()

template<typename _Manager>

const Model & getModel ( ) const

inline

Returns the model associated to the manager.

Definition at line 127 of file broadphase-manager-base.hpp.

◆ update() [1/2]

template<typename _Manager>

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]

template<typename _Manager>

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.

Member Data Documentation

◆ managers

template<typename _Manager>

BroadPhaseManagerVector managers

protected

the vector of collision objects.

Definition at line 125 of file tree-broadphase-manager.hpp.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ BroadPhaseManager

◆ BroadPhaseManagerVector

◆ CollisionObjectPointerVector

◆ GeometryData

◆ GeometryModel

◆ Manager

◆ Model

Constructor & Destructor Documentation

◆ TreeBroadPhaseManagerTpl() [1/3]

◆ TreeBroadPhaseManagerTpl() [2/3]

◆ TreeBroadPhaseManagerTpl() [3/3]

◆ ~TreeBroadPhaseManagerTpl()

Member Function Documentation

◆ getBroadPhaseManagers() [1/2]

◆ getBroadPhaseManagers() [2/2]

◆ getGeometryData() [1/2]

◆ getGeometryData() [2/2]

◆ getGeometryModel()

◆ getModel()

◆ update() [1/2]

◆ update() [2/2]

Member Data Documentation

◆ managers