Classes | Public Member Functions | Protected Member Functions | Protected Attributes
fcl::IntervalTreeCollisionManager Class Reference

Collision manager based on interval tree. More...

#include <hpp/fcl/broadphase/broadphase_interval_tree.h>

Inheritance diagram for fcl::IntervalTreeCollisionManager:
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List of all members.

Classes

struct  EndPoint
 SAP end point. More...
struct  SAPInterval
 Extention interval tree's interval to SAP interval, adding more information. More...

Public Member Functions

 IntervalTreeCollisionManager ()
 ~IntervalTreeCollisionManager ()
void registerObject (CollisionObject *obj)
 remove one object from the manager
void unregisterObject (CollisionObject *obj)
 add one object to the manager
void setup ()
 initialize the manager, related with the specific type of manager
void update ()
 update the condition of manager
void update (CollisionObject *updated_obj)
 update the manager by explicitly given the object updated
void update (const std::vector< CollisionObject * > &updated_objs)
 update the manager by explicitly given the set of objects update
void clear ()
 clear the manager
void getObjects (std::vector< CollisionObject * > &objs) const
 return the objects managed by the manager
void collide (CollisionObject *obj, void *cdata, CollisionCallBack callback) const
 perform collision test between one object and all the objects belonging to the manager
void distance (CollisionObject *obj, void *cdata, DistanceCallBack callback) const
 perform distance computation between one object and all the objects belonging to the manager
void collide (void *cdata, CollisionCallBack callback) const
 perform collision test for the objects belonging to the manager (i.e., N^2 self collision)
void distance (void *cdata, DistanceCallBack callback) const
 perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void collide (BroadPhaseCollisionManager *other_manager, void *cdata, CollisionCallBack callback) const
 perform collision test with objects belonging to another manager
void distance (BroadPhaseCollisionManager *other_manager, void *cdata, DistanceCallBack callback) const
 perform distance test with objects belonging to another manager
bool empty () const
 whether the manager is empty
size_t size () const
 the number of objects managed by the manager

Protected Member Functions

bool checkColl (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, void *cdata, CollisionCallBack callback) const
bool checkDist (std::deque< SimpleInterval * >::const_iterator pos_start, std::deque< SimpleInterval * >::const_iterator pos_end, CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
bool collide_ (CollisionObject *obj, void *cdata, CollisionCallBack callback) const
bool distance_ (CollisionObject *obj, void *cdata, DistanceCallBack callback, FCL_REAL &min_dist) const

Protected Attributes

std::vector< EndPointendpoints [3]
 vector stores all the end points
IntervalTreeinterval_trees [3]
 interval tree manages the intervals
std::map< CollisionObject
*, SAPInterval * > 
obj_interval_maps [3]
bool setup_
 tag for whether the interval tree is maintained suitably

Detailed Description

Collision manager based on interval tree.


Constructor & Destructor Documentation

fcl::IntervalTreeCollisionManager::IntervalTreeCollisionManager ( ) [inline]

References interval_trees.

fcl::IntervalTreeCollisionManager::~IntervalTreeCollisionManager ( ) [inline]

References clear().


Member Function Documentation

bool fcl::IntervalTreeCollisionManager::checkColl ( std::deque< SimpleInterval * >::const_iterator  pos_start,
std::deque< SimpleInterval * >::const_iterator  pos_end,
CollisionObject obj,
void *  cdata,
CollisionCallBack  callback 
) const [protected]
bool fcl::IntervalTreeCollisionManager::checkDist ( std::deque< SimpleInterval * >::const_iterator  pos_start,
std::deque< SimpleInterval * >::const_iterator  pos_end,
CollisionObject obj,
void *  cdata,
DistanceCallBack  callback,
FCL_REAL min_dist 
) const [protected]
void fcl::IntervalTreeCollisionManager::clear ( ) [virtual]

clear the manager

Implements fcl::BroadPhaseCollisionManager.

Referenced by ~IntervalTreeCollisionManager().

void fcl::IntervalTreeCollisionManager::collide ( CollisionObject obj,
void *  cdata,
CollisionCallBack  callback 
) const [virtual]

perform collision test between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::collide ( void *  cdata,
CollisionCallBack  callback 
) const [virtual]

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::collide ( BroadPhaseCollisionManager other_manager,
void *  cdata,
CollisionCallBack  callback 
) const [virtual]

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::IntervalTreeCollisionManager::collide_ ( CollisionObject obj,
void *  cdata,
CollisionCallBack  callback 
) const [protected]
void fcl::IntervalTreeCollisionManager::distance ( CollisionObject obj,
void *  cdata,
DistanceCallBack  callback 
) const [virtual]

perform distance computation between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::distance ( void *  cdata,
DistanceCallBack  callback 
) const [virtual]

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::distance ( BroadPhaseCollisionManager other_manager,
void *  cdata,
DistanceCallBack  callback 
) const [virtual]

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::IntervalTreeCollisionManager::distance_ ( CollisionObject obj,
void *  cdata,
DistanceCallBack  callback,
FCL_REAL min_dist 
) const [protected]
bool fcl::IntervalTreeCollisionManager::empty ( ) const [virtual]

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::getObjects ( std::vector< CollisionObject * > &  objs) const [virtual]

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::registerObject ( CollisionObject obj) [virtual]

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::setup ( ) [virtual]

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager.

size_t fcl::IntervalTreeCollisionManager::size ( ) const [inline, virtual]

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

References endpoints.

void fcl::IntervalTreeCollisionManager::unregisterObject ( CollisionObject obj) [virtual]

add one object to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::update ( ) [virtual]

update the condition of manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::update ( CollisionObject updated_obj) [virtual]

update the manager by explicitly given the object updated

Reimplemented from fcl::BroadPhaseCollisionManager.

void fcl::IntervalTreeCollisionManager::update ( const std::vector< CollisionObject * > &  updated_objs) [virtual]

update the manager by explicitly given the set of objects update

Reimplemented from fcl::BroadPhaseCollisionManager.


Member Data Documentation

vector stores all the end points

Referenced by size().

interval tree manages the intervals

Referenced by IntervalTreeCollisionManager().

tag for whether the interval tree is maintained suitably

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