Drake
QueryHandle< T > Class Template Reference

The QueryHandle serves as a mechanism to allow LeafSystem instances to perform geometry queries on GeometrySystem. More...

#include <drake/geometry/query_handle.h>

Public Member Functions

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 QueryHandle (const QueryHandle &)=default
 
QueryHandleoperator= (const QueryHandle &)=default
 
 QueryHandle (QueryHandle &&)=default
 
QueryHandleoperator= (QueryHandle &&)=default
 

Friends

class GeometrySystem< T >
 
class QueryHandleTester
 

Detailed Description

template<typename T>
class drake::geometry::QueryHandle< T >

The QueryHandle serves as a mechanism to allow LeafSystem instances to perform geometry queries on GeometrySystem.

One of the GeometrySystem output ports is abstract-valued on the QueryHandle.

From the perspective of every class except GeometrySystem, this class should simply be considered a ticket of sorts; acquired from a GeometrySystem instance, it is provided in calls to query methods.

To perform geometry queries on GeometrySystem:

  • a LeafSystem must have a QueryHandle-valued input port and connect it to the corresponding query output port on GeometrySystem,
  • the querying LeafSystem can evaluate the input port, retrieving a const QueryHandle* in return, and, finally,
  • the acquired handle is passed into query methods invoked on a pointer to the GeometrySystem.
Template Parameters
TThe underlying scalar type. Must be a valid Eigen scalar.
See also
GeometrySystem

Constructor & Destructor Documentation

QueryHandle ( const QueryHandle< T > &  )
default
QueryHandle ( QueryHandle< T > &&  )
default

Member Function Documentation

QueryHandle& operator= ( const QueryHandle< T > &  )
default
QueryHandle& operator= ( QueryHandle< T > &&  )
default

Friends And Related Function Documentation

friend class GeometrySystem< T >
friend
friend class QueryHandleTester
friend

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