Drake
drake::geometry Namespace Reference

Namespaces

 internal
 
 test
 

Classes

class  FrameIdVector
 Represents an ordered set of frame identifiers. More...
 
class  FrameKinematicsVector
 A FrameKinematicsVector associates a std::vector with a geometry source. More...
 
class  GeometryContext
 The custom leaf context type for GeometrySystem and GeometryWorld. More...
 
class  GeometryFrame
 This simple class carries the definition of a frame used by GeometryWorld. More...
 
class  GeometryInstance
 A geometry instance combines a geometry definition (i.e., a shape of some sort), a pose (relative to a parent "frame" P), material information, and an opaque collection of metadata. More...
 
class  GeometryState
 The context-dependent state of GeometryWorld. More...
 
class  GeometrySystem
 GeometrySystem serves as a system-level wrapper for GeometryWorld. More...
 
class  HalfSpace
 Definition of a half space. More...
 
class  Identifier
 A simple identifier class. More...
 
struct  PenetrationAsPointPair
 A characterization of the intersection of two penetrating geometries. More...
 
class  QueryHandle
 The QueryHandle serves as a mechanism to allow LeafSystem instances to perform geometry queries on GeometrySystem. More...
 
class  Shape
 The base interface for all shape specifications. More...
 
class  ShapeReifier
 The interface for converting shape descriptions to real shapes. More...
 
class  Sphere
 Definition of sphere. More...
 

Typedefs

template<typename T >
using FramePoseVector = FrameKinematicsVector< Isometry3< T >>
 Class for communicating ordered pose information to GeometryWorld/ GeometrySystem for registered frames. More...
 
using SourceId = Identifier< class SourceTag >
 Type used to identify geometry sources in GeometryWorld. More...
 
using FrameId = Identifier< class FrameTag >
 Type used to identify geometry frames in GeometryWorld . More...
 
using GeometryId = Identifier< class GeometryTag >
 Type used to identify geometry instances in GeometryWorld. More...
 
using GeometryIndex = TypeSafeIndex< class GeometryTag >
 Type used to locate a dynamic geometry in the geometry engine. More...
 
using AnchoredGeometryIndex = TypeSafeIndex< class AnchoredGeometryTag >
 Type used to locate an anchored geometry in the geometry engine. More...
 
using PoseIndex = TypeSafeIndex< class GeometryPoseTag >
 Type used to locate a frame pose in the geometry state. More...
 
Structures for maintaining the entity relationships
using FrameIdSet = std::unordered_set< FrameId >
 Collection of unique frame ids. More...
 

Functions

template<class Key , class Findable >
void FindOrThrow (const Key &key, const Findable &source, const std::function< std::string()> &make_message)
 
template<class Key >
std::string get_missing_id_message (const Key &key)
 
template<class Key , class Value >
const Value & GetValueOrThrow (const Key &key, const std::unordered_map< Key, Value > &map)
 
template<class Key , class Value >
Value & GetMutableValueOrThrow (const Key &key, std::unordered_map< Key, Value > *map)
 
template<>
std::string get_missing_id_message< SourceId > (const SourceId &key)
 
template<>
std::string get_missing_id_message< FrameId > (const FrameId &key)
 
template<>
std::string get_missing_id_message< GeometryId > (const GeometryId &key)
 
void DispatchLoadMessage (const GeometryState< double > &state)
 
void DispatchLoadMessage (const GeometrySystem< double > &system)
 Dispatches an LCM load message based on the registered geometry. More...
 
template<typename Tag >
std::string to_string (const drake::geometry::Identifier< Tag > &id)
 Enables use of identifiers with to_string. More...
 

Typedef Documentation

using AnchoredGeometryIndex = TypeSafeIndex<class AnchoredGeometryTag>

Type used to locate an anchored geometry in the geometry engine.

using FrameId = Identifier<class FrameTag>

Type used to identify geometry frames in GeometryWorld .

using FrameIdSet = std::unordered_set<FrameId>

Collection of unique frame ids.

Class for communicating ordered pose information to GeometryWorld/ GeometrySystem for registered frames.

Template Parameters
TThe scalar type. Must be a valid Eigen scalar.

Instantiated templates for the following kinds of T's are provided:

  • double

They are already available to link against in the containing library. No other values for T are currently supported.

using GeometryId = Identifier<class GeometryTag>

Type used to identify geometry instances in GeometryWorld.

using GeometryIndex = TypeSafeIndex<class GeometryTag>

Type used to locate a dynamic geometry in the geometry engine.

using PoseIndex = TypeSafeIndex<class GeometryPoseTag>

Type used to locate a frame pose in the geometry state.

using SourceId = Identifier<class SourceTag>

Type used to identify geometry sources in GeometryWorld.

Function Documentation

void drake::geometry::DispatchLoadMessage ( const GeometryState< double > &  state)

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void DispatchLoadMessage ( const GeometrySystem< double > &  system)

Dispatches an LCM load message based on the registered geometry.

It should be invoked after registration is complete, but before context allocation.

Parameters
systemThe system whose geometry will be sent in an LCM message.
Exceptions
std::logic_errorif the system has already had its context allocated.

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void drake::geometry::FindOrThrow ( const Key &  key,
const Findable &  source,
const std::function< std::string()> &  make_message 
)

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std::string drake::geometry::get_missing_id_message ( const Key &  key)

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std::string drake::geometry::get_missing_id_message< FrameId > ( const FrameId key)
Value& drake::geometry::GetMutableValueOrThrow ( const Key &  key,
std::unordered_map< Key, Value > *  map 
)

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const Value& drake::geometry::GetValueOrThrow ( const Key &  key,
const std::unordered_map< Key, Value > &  map 
)

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std::string drake::geometry::to_string ( const drake::geometry::Identifier< Tag > &  id)
inline

Enables use of identifiers with to_string.

It requires ADL to work. So, it should be invoked as: to_string(id); and should be preceded by using std::to_string.

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