cnoid::CollisionDetector Class Reference

#include <CollisionDetector.h>

Inheritance diagram for cnoid::CollisionDetector:

Public Types
typedef intptr_t	GeometryHandle

Public Member Functions
virtual	~CollisionDetector ()
virtual const char *	name () const =0
virtual CollisionDetector *	clone () const =0
virtual void	clearGeometries ()=0
virtual int	numGeometries () const =0
virtual stdx::optional< GeometryHandle >	addGeometry (SgNode *geometry)=0
virtual void	setCustomObject (GeometryHandle geometry, Referenced *object)=0
virtual void	setGeometryStatic (GeometryHandle geometry, bool isStatic=true)=0
virtual void	ignoreGeometryPair (GeometryHandle geometry1, GeometryHandle geometry2, bool ignore=true)=0
virtual bool	makeReady ()=0
virtual void	updatePosition (GeometryHandle geometry, const Isometry3 &position)=0
virtual void	updatePositions (std::function< void(Referenced *object, Isometry3 *&out_position)> positionQuery)=0
virtual void	detectCollisions (std::function< void(const CollisionPair &collisionPair)> callback)=0
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Member Functions
static bool	registerFactory (const std::string &name, std::function< CollisionDetector *()> factory)
static int	numFactories ()
static std::string	factoryName (int factoryIndex)
static int	factoryIndex (const std::string &name)
static CollisionDetector *	create (int factoryIndex)

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Member Typedef Documentation

GeometryHandle

typedef intptr_t cnoid::CollisionDetector::GeometryHandle

Constructor & Destructor Documentation

~CollisionDetector()

CollisionDetector::~CollisionDetector ( )

virtual

Member Function Documentation

addGeometry()

virtual stdx::optional<GeometryHandle> cnoid::CollisionDetector::addGeometry ( SgNode *  geometry )

pure virtual

Returns

A handle of the geometry in the collision detector

Implemented in cnoid::AISTCollisionDetector.

clearGeometries()

virtual void cnoid::CollisionDetector::clearGeometries ( )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

clone()

virtual CollisionDetector* cnoid::CollisionDetector::clone ( ) const

pure virtual

Note

The geometries and the non interfarence pairs of them are not copied to the clone object. That is same as the state after calling clearGeometries();

Implemented in cnoid::AISTCollisionDetector.

create()

CollisionDetector * CollisionDetector::create ( int  factoryIndex )

static

detectCollisions()

virtual void cnoid::CollisionDetector::detectCollisions ( std::function< void(const CollisionPair &collisionPair)>  callback )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

factoryIndex()

int CollisionDetector::factoryIndex ( const std::string &  name )

static

factoryName()

std::string CollisionDetector::factoryName ( int  factoryIndex )

static

ignoreGeometryPair()

virtual void cnoid::CollisionDetector::ignoreGeometryPair ( GeometryHandle  geometry1, GeometryHandle  geometry2, bool  ignore = true  )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

makeReady()

virtual bool cnoid::CollisionDetector::makeReady ( )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

name()

virtual const char* cnoid::CollisionDetector::name ( ) const

pure virtual

Implemented in cnoid::AISTCollisionDetector.

numFactories()

int CollisionDetector::numFactories ( )

static

numGeometries()

virtual int cnoid::CollisionDetector::numGeometries ( ) const

pure virtual

Implemented in cnoid::AISTCollisionDetector.

registerFactory()

bool CollisionDetector::registerFactory ( const std::string &  name, std::function< CollisionDetector *()>  factory  )

static

setCustomObject()

virtual void cnoid::CollisionDetector::setCustomObject ( GeometryHandle  geometry, Referenced *  object  )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

setGeometryStatic()

virtual void cnoid::CollisionDetector::setGeometryStatic ( GeometryHandle  geometry, bool  isStatic = true  )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

updatePosition()

virtual void cnoid::CollisionDetector::updatePosition ( GeometryHandle  geometry, const Isometry3 &  position  )

pure virtual

Implemented in cnoid::AISTCollisionDetector.

updatePositions()

virtual void cnoid::CollisionDetector::updatePositions ( std::function< void(Referenced *object, Isometry3 *&out_position)>  positionQuery )

pure virtual

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

• CollisionDetector.h
• CollisionDetector.cpp