CollisionCheckerContext Class Reference

Detailed Description

This class represents the data necessary for CollisionChecker to operate safely across multiple threads in its const API.

Instances of this class are owned and managed by a particular CollisionChecker.

If using OMP to perform parallel const queries on a CollisionChecker, it will never be necessary to interact with CollisionCheckerContext instances. Only if using some other threading paradigm will it be necessary to work with "stand alone" instances. See CollisionChecker's documentation for more details.

In all cases, modifying context should happen through CollisionChecker::PerformOperationAgainstAllModelContexts(). Modifying the contained Drake Contexts directly is generally erroneous.

#include <drake/planning/collision_checker_context.h>

Public Member Functions
	CollisionCheckerContext (const RobotDiagram< double > *model)
	The resulting object stores an alias to model; the passed model should have a lifetime greater than the constructed object. More...
virtual	~CollisionCheckerContext ()
std::unique_ptr< CollisionCheckerContext >	Clone () const
const systems::Context< double > &	model_context () const
	Gets the contained model context. More...
const systems::Context< double > &	plant_context () const
	Gets the contained plant context. More...
const systems::Context< double > &	scene_graph_context () const
	Gets the contained scene graph context. More...
const geometry::QueryObject< double > &	GetQueryObject () const
	Gets the scene graph geometry query object. More...
systems::Context< double > &	mutable_model_context ()
systems::Context< double > &	mutable_plant_context ()
systems::Context< double > &	mutable_scene_graph_context ()
Does not allow copy, move, or assignment generally.
Protected copy construction is enabled for sub-classes to use in their implementation of DoClone().
CollisionCheckerContext &	operator= (const CollisionCheckerContext &)=delete
	CollisionCheckerContext (CollisionCheckerContext &&)=delete
CollisionCheckerContext &	operator= (CollisionCheckerContext &&)=delete

Protected Member Functions
	CollisionCheckerContext (const CollisionCheckerContext &other)
	Derived classes can use this copy constructor to help implement their own DoClone() methods. More...
virtual std::unique_ptr< CollisionCheckerContext >	DoClone () const
	Allow derived context types to implement additional clone behavior. More...

Constructor & Destructor Documentation

CollisionCheckerContext() [1/3]

CollisionCheckerContext ( CollisionCheckerContext &&  )

delete

CollisionCheckerContext() [2/3]

CollisionCheckerContext ( const RobotDiagram< double > *  model )

explicit

The resulting object stores an alias to model; the passed model should have a lifetime greater than the constructed object.

Precondition

model is not null.

~CollisionCheckerContext()

virtual ~CollisionCheckerContext ( )

virtual

CollisionCheckerContext() [3/3]

CollisionCheckerContext ( const CollisionCheckerContext &  other )

protected

Derived classes can use this copy constructor to help implement their own DoClone() methods.

Member Function Documentation

Clone()

std::unique_ptr<CollisionCheckerContext> Clone

(

)

const

DoClone()

virtual std::unique_ptr<CollisionCheckerContext> DoClone ( ) const

protectedvirtual

Allow derived context types to implement additional clone behavior.

GetQueryObject()

const geometry::QueryObject<double>& GetQueryObject

(

)

const

Gets the scene graph geometry query object.

model_context()

const systems::Context<double>& model_context

(

)

const

Gets the contained model context.

mutable_model_context()

systems::Context<double>& mutable_model_context

(

)

mutable_plant_context()

systems::Context<double>& mutable_plant_context

(

)

mutable_scene_graph_context()

systems::Context<double>& mutable_scene_graph_context

(

)

operator=() [1/2]

CollisionCheckerContext& operator= ( const CollisionCheckerContext &  )

delete

operator=() [2/2]

CollisionCheckerContext& operator= ( CollisionCheckerContext &&  )

delete

plant_context()

const systems::Context<double>& plant_context

(

)

const

Gets the contained plant context.

scene_graph_context()

const systems::Context<double>& scene_graph_context

(

)

const

Gets the contained scene graph context.

---

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

• drake/planning/collision_checker_context.h