CollisionFilterGroups Class Reference

Detailed Description

This is storage for parsed collision filter groups and group pairs.

This data may be useful to users needing to compose further collision filters in code, without having to restate the data already captured in model files.

The contents of this object will be made up of fully-qualified scoped names of collision filter groups and bodies.

Note that this object enforces few invariants on the data. In the expected workflow, the parser will add groups and exclusion pairs found during parsing. The only condition checked here is that a group with a given fully-qualified name is only added once.

#include <drake/multibody/parsing/collision_filter_groups.h>

Public Member Functions
	CollisionFilterGroups ()=default
bool	operator== (const CollisionFilterGroups &) const
void	AddGroup (std::string_view name, const std::set< std::string > members)
	Adds a new collision filter group. More...
void	AddExclusionPair (const SortedPair< std::string > pair)
	Adds an exclusion pair between two collision filter groups. More...
bool	empty () const
const std::map< std::string, std::set< std::string > > &	groups () const
const std::set< SortedPair< std::string > > &	exclusion_pairs () const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	CollisionFilterGroups (const CollisionFilterGroups &)=default
CollisionFilterGroups &	operator= (const CollisionFilterGroups &)=default
	CollisionFilterGroups (CollisionFilterGroups &&)=default
CollisionFilterGroups &	operator= (CollisionFilterGroups &&)=default

Constructor & Destructor Documentation

CollisionFilterGroups() [1/3]

CollisionFilterGroups ( const CollisionFilterGroups &  )

default

CollisionFilterGroups() [2/3]

CollisionFilterGroups ( CollisionFilterGroups &&  )

default

CollisionFilterGroups() [3/3]

CollisionFilterGroups ( )

default

Member Function Documentation

AddExclusionPair()

void AddExclusionPair

(

const SortedPair< std::string >

pair

)

Adds an exclusion pair between two collision filter groups.

Parameters

pair	a pair of fully-qualified scoped names of groups.

Note

A pair can consist of the same name twice, which means the pair defines a rule where all members of the group exclude each other. Adding an already defined pair does nothing.

AddGroup()

void AddGroup	(	std::string_view	name,
		const std::set< std::string >	members
	)

Adds a new collision filter group.

Parameters

name	the fully-qualified scoped name of the group being defined.
members	the fully-qualified scoped names of the member bodies.

Precondition

name is not already a defined group in this object.

empty()

bool empty

(

)

const

Returns

true iff both groups() and exclusion_pairs() are empty.

exclusion_pairs()

const std::set<SortedPair<std::string> >& exclusion_pairs

(

)

const

Returns

the pairs stored by prior calls to AddExclusionPair().

groups()

const std::map<std::string, std::set<std::string> >& groups

(

)

const

Returns

the groups stored by prior calls to AddGroup().

operator=() [1/2]

CollisionFilterGroups& operator= ( CollisionFilterGroups &&  )

default

operator=() [2/2]

CollisionFilterGroups& operator= ( const CollisionFilterGroups &  )

default

operator==()

bool operator==

(

const CollisionFilterGroups &

)

const

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

• drake/multibody/parsing/collision_filter_groups.h