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Drake
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Drake
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The GeometrySet, as its name implies, is a convenience class for defining a set of geometries.
What makes it unique from a simple std::set<GeometryId> instance is that membership doesn't require explicit GeometryId enumeration; GeometryId values can be added to the set by adding the FrameId for the frame to which the geometries are rigidly affixed.
This class does no validation; it is a simple collection. Ultimately, it serves as the operand of various geometry operations (e.g., CollisionFilterDeclaration and CollisionFilterManager::Apply(). If the operation has a particular prerequisite on the members of a GeometrySet, it is the operation's responsibility to enforce that requirement.
More formally, the SceneGraph consists of a set of geometries, each associated with a unique identifier. As such, we can consider the set of all identifiers SG = {g₀, g₁, ..., gₙ} that belong to a SceneGraph. A GeometrySet should represent a subset of those identifiers, Gₛ ⊆ SG. The convenience of the GeometrySet class is how the subset is defined. Given a set of frame ids F = {f₀, f₁, ..., fₙ} and geometry ids G = {g₀, g₁, ..., gₘ}, Gₛ = G ⋃ geometry(f₀) ⋃ ... ⋃ geometry(fₙ) (where geometry(f) is the set of geometries rigidly affixed to frame f).
#include <drake/geometry/geometry_set.h>
Public Member Functions | |
| GeometrySet ()=default | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable | |
| GeometrySet (const GeometrySet &)=default | |
| GeometrySet & | operator= (const GeometrySet &)=default |
| GeometrySet (GeometrySet &&)=default | |
| GeometrySet & | operator= (GeometrySet &&)=default |
Explicit constructors | |
Various workflows may arise for operating on GeometrySet instances, e.g. : // Perform operation on previously existing collection of frame ids. std::vector<FrameId> my_ids{...}; // Previously-defined vector of ids. GeometrySet geometry_set; geometry_set.Add(my_ids); UnaryOperation(geometry_set); or // Perform operation between two frames. GeometrySet set1; set1.Add(frame1); GeometrySet set2; set2.Add(frame2); BinaryOperation(set1, set2); This set of constructors allow on-the-fly construction at the call site to create temporary instances when the group membership is a single id or a previously existing id. By doing so, the above cases become: // Perform operation on previously existing collection of frame ids. std::vector<FrameId> my_ids{...}; // Previously-defined vector of ids. UnaryOperation(GeometrySet(my_ids)); // Perform operation between two frames. BinaryOperation(GeometrySet(frame1), GeometrySet(frame2)); The following are all valid constructions – this is not an exhaustive list but a representative sampling: // Assume that g_* and f_* are valid GeometryId and FrameId instances, // respectively. std::vector<GeometryId> g_vector{g_0, g_1, g_2}; std::set<GeometryId> g_set{g_3, g_4, g_5}; std::unordered_set<FrameId> f_set{f_0, f_1}; auto f_list = {f_2, f_3, f_4}; GeometrySet(g_0); GeometrySet(f_0); GeometrySet({g_0, g_1}); GeometrySet({f_0, f_1}); GeometrySet(g_vector, f_set); GeometrySet(g_set, f_list); // Note: construction on values of both geometry and frame identifiers // requires passing in "collections" of ids; the initializer list is the // simplest collection that serves the purpose. When both are provided, // GeometryId always comes before FrameId. GeometrySet({g_0}, {f_1}); GeometrySet({g_0}, f_set); // etc. | |
| GeometrySet (GeometryId geometry_id) | |
| GeometrySet (FrameId frame_id) | |
| template<typename Container > | |
| GeometrySet (const Container &ids) | |
| template<typename Id > | |
| GeometrySet (std::initializer_list< Id > id_list) | |
| template<typename Container > | |
| GeometrySet (std::initializer_list< GeometryId > geometry_ids, const Container &frame_ids) | |
| template<typename Container > | |
| GeometrySet (const Container &geometry_ids, std::initializer_list< FrameId > frame_ids) | |
| GeometrySet (std::initializer_list< GeometryId > geometry_ids, std::initializer_list< FrameId > frame_ids) | |
| template<typename ContainerG , typename ContainerF , typename = typename std::enable_if_t< std::is_same_v<typename ContainerG::value_type, GeometryId> && std::is_same_v<typename ContainerF::value_type, FrameId>>> | |
| GeometrySet (const ContainerG &geometry_ids, const ContainerF &frame_ids) | |
Methods for adding to the set | |
The interface for adding geometries to the set is simply an overload of the Add() method. For maximum flexibility, the Add method can take:
NOTE: the iterable objects don't have to be the same type. The "iterable" can also be an initializer list. All of the following invocations are valid (this isn't an exhaustive list, but a representative set): // Assuming that f_* are valid FrameId instances and g_* are valid GeometryId // instances. GeometrySet group; group.Add(f_1); group.Add(g_1); std::vector<FrameId> frame_ids{f_2, f_3, f_4}; group.Add(frame_ids); std::vector<GeometryId> geometry_ids{g_2, g_3, g_4}; group.Add(geometry_ids); // This is valid, but redundant; the ids in those vectors have already been // added. group.Add(geometry_ids, frame_ids); // Mismatched iterable types. std::set<FrameId> frame_set{f_5, f_6, f_7}; group.Add({g_7, g_8}, frame_set); | |
| void | Add (GeometryId geometry_id) |
| void | Add (FrameId frame_id) |
| template<typename Container > | |
| std::enable_if_t< std::is_same_v< typename Container::value_type, GeometryId > > | Add (const Container &geometry_ids) |
| template<typename Container > | |
| std::enable_if_t< std::is_same_v< typename Container::value_type, FrameId > > | Add (const Container &frame_ids) |
| void | Add (std::initializer_list< FrameId > frame_ids) |
| void | Add (std::initializer_list< GeometryId > geometry_ids) |
| template<typename ContainerG , typename ContainerF > | |
| std::enable_if_t< std::is_same_v< typename ContainerG::value_type, GeometryId > &&std::is_same_v< typename ContainerF::value_type, FrameId > > | Add (const ContainerG &geometry_ids, const ContainerF &frame_ids) |
| template<typename ContainerF > | |
| std::enable_if_t< std::is_same_v< typename ContainerF::value_type, FrameId > > | Add (std::initializer_list< GeometryId > geometry_ids, const ContainerF &frame_ids) |
| template<typename ContainerG > | |
| std::enable_if_t< std::is_same_v< typename ContainerG::value_type, GeometryId > > | Add (const ContainerG &geometry_ids, std::initializer_list< FrameId > frame_ids) |
| void | Add (const GeometrySet &other) |
Friends | |
| class | GeometrySetTester |
| template<typename > | |
| class | GeometryState |
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| GeometrySet | ( | const ContainerG & | geometry_ids, |
| const ContainerF & | frame_ids | ||
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| void Add | ( | GeometryId | geometry_id | ) |
| void Add | ( | FrameId | frame_id | ) |
| std::enable_if_t< std::is_same_v<typename Container::value_type, GeometryId> > Add | ( | const Container & | geometry_ids | ) |
| std::enable_if_t< std::is_same_v<typename Container::value_type, FrameId> > Add | ( | const Container & | frame_ids | ) |
| void Add | ( | std::initializer_list< FrameId > | frame_ids | ) |
| void Add | ( | std::initializer_list< GeometryId > | geometry_ids | ) |
| std::enable_if_t< std::is_same_v<typename ContainerG::value_type, GeometryId> && std::is_same_v<typename ContainerF::value_type, FrameId> > Add | ( | const ContainerG & | geometry_ids, |
| const ContainerF & | frame_ids | ||
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| std::enable_if_t< std::is_same_v<typename ContainerF::value_type, FrameId> > Add | ( | std::initializer_list< GeometryId > | geometry_ids, |
| const ContainerF & | frame_ids | ||
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| std::enable_if_t< std::is_same_v<typename ContainerG::value_type, GeometryId> > Add | ( | const ContainerG & | geometry_ids, |
| std::initializer_list< FrameId > | frame_ids | ||
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| void Add | ( | const GeometrySet & | other | ) |
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