ShapeGroup can contain simple shapes. More...

#include <shape_group.h>

Inheritance diagram for collision::ShapeGroup:

Public Member Functions
virtual const ISolverEntity_FCL *	getFclInterface () const override

virtual FCL_COLLISION_ENTITY_TYPE	getFclEntityType (void) const

int	getCollisionObjects (std::vector< fcl::CollisionObject< FCL_PRECISION > *> &obj_vec) const override

virtual CollisionObjectType	getCollisionObjectType () const

CollisionObjectClass	getCollisionObjectClass () const

std::shared_ptr< const collision::RectangleAABB >	getAABB () const

ShapeGroupConstPtr	windowQuery (collision::RectangleAABBConstPtr aabb) const

	ShapeGroup ()

virtual	~ShapeGroup ()

void	toString (std::ostringstream &stream) const

bool	rayTrace (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect) const

int	elementCount (void) const
	Returns count of contained objects. More...

std::vector< std::set< int > >	overlapMap (const ShapeGroup &sg) const
	Returns lists of all objects from the other ShapeGroup that collide with each object of this ShapeGroup. More...

std::vector< std::pair< int, int > >	overlap (const ShapeGroup &sg) const
	Returns Vector of pairs of indexes of the intersecting objects within the ShapeGroup and another ShapeGroup. More...

virtual void	print (std::ostringstream &stream) const

virtual CollisionObjectConstPtr	timeSlice (int time_idx, CollisionObjectConstPtr shared_ptr_this) const

void	addToGroup (ShapeConstPtr shape)
	Adds a simple shape to the ShapeGroup. More...

std::vector< ShapeConstPtr >	unpack () const
	Returns Vector of all shapes contained inside the ShapeGroup. More...

const ICollisionContainer *	getContainerInterface (void) const override

virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map) const

virtual void	addParentMap (std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &parent_map, CollisionObjectConstPtr parent) const

int	queryContainedObjectIndexList (const CollisionObject *, std::list< int > &retlist) const override

Public Member Functions inherited from collision::CollisionObjectEx
	CollisionObjectEx ()

virtual	~CollisionObjectEx ()

virtual bool	collide (const CollisionObject &c, const collision::CollisionRequest &req=CollisionRequest()) const

virtual bool	BVCheck (CollisionObjectConstPtr obj2) const

virtual int	getSolverEntity (solvers::solverFCL::SolverEntity_FCL *&ptr) const

virtual int	getSolverEntity (solvers::solverBoost::SolverEntity_Boost *&ptr) const

virtual const solvers::solverBoost::ISolverEntity_Boost *	getBoostInterface (void) const

Public Member Functions inherited from collision::CollisionObject
virtual	~CollisionObject ()

Public Member Functions inherited from collision::ICollisionContainer
	ICollisionContainer ()

virtual	~ICollisionContainer ()

Public Member Functions inherited from collision::solvers::solverFCL::ISolverEntity_FCL
virtual	~ISolverEntity_FCL (void)

Additional Inherited Members
Protected Member Functions inherited from collision::CollisionObjectEx
void	invalidateCollisionEntityCache (void)

Detailed Description

ShapeGroup can contain simple shapes.

The benefit of grouping objects in the ShapeGroup is that a broadphase structure is built for efficient filtering of candidate objects for the collision

Definition at line 33 of file shape_group.h.

Constructor & Destructor Documentation

◆ ShapeGroup()

collision::ShapeGroup::ShapeGroup ( )

inline

Definition at line 63 of file shape_group.h.

◆ ~ShapeGroup()

virtual collision::ShapeGroup::~ShapeGroup ( )

inlinevirtual

Definition at line 65 of file shape_group.h.

Member Function Documentation

◆ addParentMap() [1/2]

void collision::ShapeGroup::addParentMap ( std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> & parent_map ) const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 198 of file shape_group.cc.

◆ addParentMap() [2/2]

void collision::ShapeGroup::addParentMap	(	std::unordered_map< const CollisionObject *, std::list< CollisionObjectConstPtr >> &	parent_map,
		CollisionObjectConstPtr	parent
	)		const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 189 of file shape_group.cc.

◆ addToGroup()

void collision::ShapeGroup::addToGroup ( ShapeConstPtr shape )

Adds a simple shape to the ShapeGroup.

The accelerator structure for collision candidates filtering is temporarily destroyed.

Parameters

[in] shape Shape to be added

Warning: The function is not thread-safe

Definition at line 176 of file shape_group.cc.

◆ elementCount()

int collision::ShapeGroup::elementCount ( void ) const

virtual

Returns count of contained objects.

Implements collision::solvers::solverFCL::IFCLCollisionObjectGroup.

Definition at line 91 of file shape_group.cc.

◆ getAABB()

std::shared_ptr< const collision::RectangleAABB > collision::ShapeGroup::getAABB ( ) const

virtual

Reimplemented from collision::CollisionObjectEx.

Definition at line 21 of file shape_group.cc.

◆ getCollisionObjectClass()

CollisionObjectClass collision::ShapeGroup::getCollisionObjectClass ( ) const

inlinevirtual

Reimplemented from collision::CollisionObject.

Definition at line 55 of file shape_group.h.

◆ getCollisionObjects()

int collision::ShapeGroup::getCollisionObjects ( std::vector< fcl::CollisionObject< FCL_PRECISION > *> & obj_vec ) const

overridevirtual

Implements collision::solvers::solverFCL::IFCLCollisionObjectGroup.

Definition at line 47 of file shape_group.cc.

◆ getCollisionObjectType()

virtual CollisionObjectType collision::ShapeGroup::getCollisionObjectType ( ) const

inlinevirtual

Reimplemented from collision::CollisionObject.

Definition at line 52 of file shape_group.h.

◆ getContainerInterface()

const ICollisionContainer* collision::ShapeGroup::getContainerInterface ( void ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObjectEx.

Definition at line 87 of file shape_group.h.

◆ getFclEntityType()

virtual FCL_COLLISION_ENTITY_TYPE collision::ShapeGroup::getFclEntityType ( void ) const

inlinevirtual

Reimplemented from collision::solvers::solverFCL::IFCLCollisionObjectGroup.

Definition at line 45 of file shape_group.h.

◆ getFclInterface()

virtual const ISolverEntity_FCL* collision::ShapeGroup::getFclInterface ( void ) const

inlineoverridevirtual

Reimplemented from collision::CollisionObjectEx.

Definition at line 41 of file shape_group.h.

◆ overlap()

std::vector< std::pair< int, int > > collision::ShapeGroup::overlap ( const ShapeGroup & sg ) const

Returns Vector of pairs of indexes of the intersecting objects within the ShapeGroup and another ShapeGroup.

Parameters

[in] sg - second ShapeGroup for the intersection test

Definition at line 111 of file shape_group.cc.

◆ overlapMap()

std::vector< std::set< int > > collision::ShapeGroup::overlapMap ( const ShapeGroup & sg ) const

Returns lists of all objects from the other ShapeGroup that collide with each object of this ShapeGroup.

Parameters

[in] sg - second ShapeGroup for the intersection test

The output vector has as many elements as this ShapeGroup contains. Each element of the output vector is a set of indexes of all objects of the second ShapeGroup that collide with the object corresponding to the element.

Definition at line 73 of file shape_group.cc.

◆ print()

void collision::ShapeGroup::print ( std::ostringstream & stream ) const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 148 of file shape_group.cc.

◆ queryContainedObjectIndexList()

int collision::ShapeGroup::queryContainedObjectIndexList	(	const CollisionObject *	pObj,
		std::list< int > &	retlist
	)		const

overridevirtual

Implements collision::ICollisionContainer.

Definition at line 137 of file shape_group.cc.

◆ rayTrace()

bool collision::ShapeGroup::rayTrace	(	const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		std::vector< LineSegment > &	intersect
	)		const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 93 of file shape_group.cc.

◆ timeSlice()

CollisionObjectConstPtr collision::ShapeGroup::timeSlice	(	int	time_idx,
		CollisionObjectConstPtr	shared_ptr_this
	)		const

virtual

Implements collision::CollisionObject.

Definition at line 159 of file shape_group.cc.

◆ toString()

void collision::ShapeGroup::toString ( std::ostringstream & stream ) const

virtual

Reimplemented from collision::CollisionObject.

Definition at line 150 of file shape_group.cc.

◆ unpack()

std::vector< ShapeConstPtr > collision::ShapeGroup::unpack ( ) const

Returns Vector of all shapes contained inside the ShapeGroup.

Definition at line 187 of file shape_group.cc.

◆ windowQuery()

ShapeGroupConstPtr collision::ShapeGroup::windowQuery ( collision::RectangleAABBConstPtr aabb ) const

Definition at line 10 of file shape_group.cc.

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

include/collision/shape_group.h
src/shape_group.cc

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ShapeGroup()

◆ ~ShapeGroup()

Member Function Documentation

◆ addParentMap() [1/2]

◆ addParentMap() [2/2]

◆ addToGroup()

◆ elementCount()

◆ getAABB()

◆ getCollisionObjectClass()

◆ getCollisionObjects()

◆ getCollisionObjectType()

◆ getContainerInterface()

◆ getFclEntityType()

◆ getFclInterface()

◆ overlap()

◆ overlapMap()

◆ print()

◆ queryContainedObjectIndexList()

◆ rayTrace()

◆ timeSlice()

◆ toString()

◆ unpack()

◆ windowQuery()