Drake
drake::multibody::collision Namespace Reference

Namespaces

 test
 

Classes

struct  BulletCollisionWorldWrapper
 
class  BulletModel
 
class  CollisionFilterGroup
 The specification of a collision filter group: its name, bodies that belong to it, and the names of collision filter groups that it ignores. More...
 
class  CollisionFilterGroupManager
 This class provides management utilities for the definition of collision filter groups for RigidBodyTree instances. More...
 
class  Element
 The underyling primitive class used for collision analysis. More...
 
class  FclModel
 
class  Model
 Model is an abstract base class of a collision model. More...
 
struct  OverlapFilterCallback
 
struct  PointPair
 Structure containing the results of a collision query. More...
 
class  UnknownShapeException
 
class  UnusableModel
 An unusable model, used when no collision detection backend is available. More...
 

Typedefs

typedef std::unordered_map< ElementId, std::unique_ptr< btCollisionObject > > ElementToBtObjMap
 
typedef std::bitset< kMaxNumCollisionFilterGroupsbitmask
 
typedef uintptr_t ElementId
 
typedef std::pair< ElementId, ElementIdElementIdPair
 

Enumerations

enum  ModelType { kUnusable = 0, kFcl = 1 }
 

Functions

Eigen::Map< const Vector3d > toVector3d (const btVector3 &bt_vec)
 
constexpr bitmask kNoneMask (0)
 
constexpr bitmask kDefaultGroup (1)
 
unique_ptr< ModelnewModel (ModelType type=ModelType::kUnusable)
 Returns a unique pointer to a Model that uses the collision backend specified by type. More...
 
ostream & operator<< (ostream &out, const Element &ee)
 
std::ostream & operator<< (std::ostream &os, const Model &model)
 A toString for the collision model. More...
 

Variables

constexpr int kMaxNumCollisionFilterGroups = 128
 The maximum width of the collision filter group bitmasks. More...
 

Typedef Documentation

typedef std::bitset<kMaxNumCollisionFilterGroups> bitmask
typedef uintptr_t ElementId
typedef std::pair<ElementId, ElementId> ElementIdPair
typedef std::unordered_map<ElementId, std::unique_ptr<btCollisionObject> > ElementToBtObjMap

Enumeration Type Documentation

enum ModelType
strong
Enumerator
kUnusable 
kFcl 

Function Documentation

constexpr bitmask drake::multibody::collision::kDefaultGroup ( )

Here is the caller graph for this function:

constexpr bitmask drake::multibody::collision::kNoneMask ( )

Here is the caller graph for this function:

std::unique_ptr< Model > newModel ( ModelType  type = ModelType::kUnusable)

Returns a unique pointer to a Model that uses the collision backend specified by type.

ostream& drake::multibody::collision::operator<< ( std::ostream &  out,
const Element ee 
)

Here is the call graph for this function:

std::ostream& drake::multibody::collision::operator<< ( std::ostream &  os,
const Model model 
)

A toString for the collision model.

A toString method for this class.

Eigen::Map<const Vector3d> drake::multibody::collision::toVector3d ( const btVector3 &  bt_vec)

Here is the call graph for this function:

Here is the caller graph for this function:

Variable Documentation

constexpr int kMaxNumCollisionFilterGroups = 128

The maximum width of the collision filter group bitmasks.