GeometryState< T > Class Template Reference

Detailed Description

template<typename T>
class drake::geometry::GeometryState< T >

The context-dependent state of SceneGraph.

This serves as an AbstractValue in the context. SceneGraph's time-dependent state includes more than just values; objects can be added to or removed from the world over time. Therefore, SceneGraph's context-dependent state includes values (the poses/configurations) and structure (the topology of the world).

Note

This is intended as an internal class only.

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/geometry/proximity_engine.h>

Public Types
using	FrameIdRange = internal::MapKeyRange< FrameId, internal::InternalFrame >
	An object that represents the range of FrameId values in the state. More...

Public Member Functions
	GeometryState ()
	Default constructor. More...
template<class T1 = T>
std::enable_if_t<!std::is_same_v< T1, double >, GeometryState< T > & >	operator= (const GeometryState< double > &other)
	Allow assignment from a GeometryState<double> to a GeometryState<T>. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	GeometryState (const GeometryState &)=default
GeometryState &	operator= (const GeometryState &)=default
	GeometryState (GeometryState &&)=default
GeometryState &	operator= (GeometryState &&)=default
Scene-graph wide introspection
int	get_num_sources () const
	Implementation of SceneGraphInspector::num_sources(). More...
int	get_num_frames () const
	Implementation of SceneGraphInspector::num_frames(). More...
FrameIdRange	get_frame_ids () const
	Implementation of SceneGraphInspector::GetAllFrameIds(). More...
int	get_num_geometries () const
	Implementation of SceneGraphInspector::num_geometries(). More...
std::vector< GeometryId >	GetAllGeometryIds (std::optional< Role > role) const
	Implementation of SceneGraphInspector::GetAllGeometryIds(). More...
std::unordered_set< GeometryId >	GetGeometryIds (const GeometrySet &geometry_set, std::optional< Role > role) const
	Implementation of SceneGraphInspector::GetGeometryIds(). More...
int	NumGeometriesWithRole (Role role) const
	Implementation of SceneGraphInspector::NumGeometriesWithRole(). More...
int	NumDeformableGeometriesWithRole (Role role) const
	Implementation of SceneGraphInspector::NumDeformableGeometriesWithRole(). More...
int	NumDynamicGeometries () const
	Implementation of SceneGraphInspector::NumDynamicGeometries(). More...
int	NumDynamicNonDeformableGeometries () const
	Returns the total number of registered dynamic non-deformable geometries. More...
int	NumDeformableGeometries () const
	Returns the total number of registered deformable geometries. More...
int	NumAnchoredGeometries () const
	Implementation of SceneGraphInspector::NumAnchoredGeometries(). More...
std::set< std::pair< GeometryId, GeometryId > >	GetCollisionCandidates () const
	Implementation of SceneGraphInspector::GetCollisionCandidates(). More...
const GeometryVersion &	geometry_version () const
	Implementation of SceneGraphInspector::GetGeometryVersion(). More...
Sources and source-related data
std::vector< SourceId >	GetAllSourceIds () const
	Returns all of the source ids in the scene graph. More...
bool	SourceIsRegistered (SourceId source_id) const
	Implementation of SceneGraphInspector::SourceIsRegistered(). More...
const std::string &	GetName (SourceId id) const
	Implementation of SceneGraphInspector::GetName(). More...
int	NumFramesForSource (SourceId source_id) const
	Implementation of SceneGraphInspector::NumFramesForSource(). More...
const FrameIdSet &	FramesForSource (SourceId source_id) const
	Implementation of SceneGraphInspector::FramesForSource(). More...
Frames and their properties
bool	BelongsToSource (FrameId frame_id, SourceId source_id) const
	Implementation of SceneGraphInspector::BelongsToSource(FrameId, SourceId) const. More...
const std::string &	GetOwningSourceName (FrameId id) const
	Implementation of SceneGraphInspector::GetOwningSourceName(FrameId) const. More...
const std::string &	GetName (FrameId frame_id) const
	Implementation of SceneGraphInspector::GetName(FrameId) const. More...
FrameId	GetParentFrame (FrameId frame_id) const
	Implementation of SceneGraphInspector::GetParentFrame(FrameId) const. More...
int	GetFrameGroup (FrameId frame_id) const
	Implementation of SceneGraphInspector::GetFrameGroup(). More...
int	NumGeometriesForFrame (FrameId frame_id) const
	Implementation of SceneGraphInspector::NumGeometriesForFrame(). More...
int	NumGeometriesForFrameWithRole (FrameId frame_id, Role role) const
	Implementation of SceneGraphInspector::NumGeometriesForFrameWithRole(). More...
std::vector< GeometryId >	GetGeometries (FrameId frame_id, std::optional< Role > role) const
	Implementation of SceneGraphInspector::GetGeometries. More...
int	NumGeometriesWithRole (FrameId frame_id, Role role) const
	Reports the number of child geometries for this frame that have the indicated role assigned. More...
GeometryId	GetGeometryIdByName (FrameId frame_id, Role role, const std::string &name) const
	Implementation of SceneGraphInspector::GetGeometryIdByName(). More...
Geometries and their properties
bool	BelongsToSource (GeometryId geometry_id, SourceId source_id) const
	Implementation of SceneGraphInspector::BelongsToSource(GeometryId, SourceId) const. More...
const std::string &	GetOwningSourceName (GeometryId id) const
	Implementation of SceneGraphInspector::GetOwningSourceName(GeometryId) const. More...
FrameId	GetFrameId (GeometryId geometry_id) const
	Implementation of SceneGraphInspector::GetFrameId(). More...
const std::string &	GetName (GeometryId geometry_id) const
	Implementation of SceneGraphInspector::GetName(GeometryId) const. More...
const Shape &	GetShape (GeometryId id) const
	Support for SceneGraphInspector::Reify(). More...
const math::RigidTransform< double > &	GetPoseInFrame (GeometryId geometry_id) const
	Implementation of SceneGraphInspector::X_FG(). More...
std::variant< std::monostate, const TriangleSurfaceMesh< double > *, const VolumeMesh< double > * >	maybe_get_hydroelastic_mesh (GeometryId geometry_id) const
	Implementation of SceneGraphInspector::maybe_get_hydroelastic_mesh(). More...
const ProximityProperties *	GetProximityProperties (GeometryId id) const
	Implementation of SceneGraphInspector::GetProximityProperties(). More...
const IllustrationProperties *	GetIllustrationProperties (GeometryId id) const
	Implementation of SceneGraphInspector::GetIllustrationProperties(). More...
const PerceptionProperties *	GetPerceptionProperties (GeometryId id) const
	Implementation of SceneGraphInspector::GetPerceptionProperties(). More...
const VolumeMesh< double > *	GetReferenceMesh (GeometryId id) const
	Implementation of SceneGraphInspector::GetReferenceMesh(). More...
const std::vector< internal::RenderMesh > &	GetDrivenRenderMeshes (GeometryId id, Role role) const
	Implementation of SceneGraphInspector::GetDrivenRenderMeshes(). More...
bool	IsDeformableGeometry (GeometryId id) const
	Implementation of SceneGraphInspector::IsDeformableGeometry(). More...
std::vector< GeometryId >	GetAllDeformableGeometryIds () const
	Implementation of SceneGraphInspector::GetAllDeformableGeometryIds(). More...
const PolygonSurfaceMesh< double > *	GetConvexHull (GeometryId id) const
	Implementation of SceneGraphInspector::GetConvexHull(). More...
bool	CollisionFiltered (GeometryId id1, GeometryId id2) const
	Implementation of SceneGraphInspector::CollisionFiltered(). More...
Configuration-dependent queries
These quantities all depend on the most recent pose values assigned to the registered frames and configuration values assigned to deformable geometries.
const math::RigidTransform< T > &	get_pose_in_world (FrameId frame_id) const
	Implementation of QueryObject::GetPoseInWorld(FrameId). More...
const math::RigidTransform< T > &	get_pose_in_world (GeometryId geometry_id) const
	Implementation of QueryObject::GetPoseInWorld(GeometryId). More...
const math::RigidTransform< T > &	get_pose_in_parent (FrameId frame_id) const
	Implementation of QueryObject::GetPoseInParent(). More...
const VectorX< T > &	get_configurations_in_world (GeometryId geometry_id) const
	Implementation of QueryObject::GetConfigurationsInWorld(). More...
std::vector< VectorX< T > >	GetDrivenMeshConfigurationsInWorld (GeometryId geometry_id, Role role) const
	Implementation of QueryObject::GetDrivenMeshConfigurationsInWorld(). More...
State management
The methods that modify the state including: adding/removing entities from the state, modifying values in the state, etc.
SourceId	RegisterNewSource (const std::string &name="")
	Implementation of SceneGraph::RegisterSource(). More...
FrameId	RegisterFrame (SourceId source_id, const GeometryFrame &frame)
	Implementation of SceneGraph::RegisterFrame(). More...
void	RenameFrame (FrameId frame_id, const std::string &name)
	Implementation of SceneGraph::RenameFrame(). More...
FrameId	RegisterFrame (SourceId source_id, FrameId parent_id, const GeometryFrame &frame)
	Implementation of SceneGraph::RegisterFrame() with parent FrameId. More...
GeometryId	RegisterGeometry (SourceId source_id, FrameId frame_id, std::unique_ptr< GeometryInstance > geometry)
	Implementation of SceneGraph::RegisterGeometry(SourceId,FrameId, std::unique_ptr<GeometryInstance>) "SceneGraph::RegisterGeometry()" with parent FrameId. More...
GeometryId	RegisterAnchoredGeometry (SourceId source_id, std::unique_ptr< GeometryInstance > geometry)
	Implementation of SceneGraph::RegisterAnchoredGeometry(). More...
GeometryId	RegisterDeformableGeometry (SourceId source_id, FrameId frame_id, std::unique_ptr< GeometryInstance > geometry, double resolution_hint)
	Implementation of SceneGraph::RegisterDeformableGeometry() More...
void	RenameGeometry (GeometryId geometry_id, const std::string &name)
	Implementation of SceneGraph::RenameGeometry(). More...
void	ChangeShape (SourceId source_id, GeometryId geometry_id, const Shape &shape, std::optional< math::RigidTransform< double >> X_FG)
	Implementation of SceneGraph::ChangeShape(). More...
void	RemoveGeometry (SourceId source_id, GeometryId geometry_id)
	Implementation of SceneGraph::RemoveGeometry(). More...
bool	IsValidGeometryName (FrameId frame_id, Role role, const std::string &candidate_name) const
	Reports whether the canonicalized version of the given candidate geometry name is considered valid. More...
void	AssignRole (SourceId source_id, GeometryId geometry_id, ProximityProperties properties, RoleAssign assign=RoleAssign::kNew)
	Implementation of SceneGraph::AssignRole(). More...
void	AssignRole (SourceId source_id, GeometryId geometry_id, PerceptionProperties properties, RoleAssign assign=RoleAssign::kNew)
	Implementation of SceneGraph::AssignRole(). More...
void	AssignRole (SourceId source_id, GeometryId geometry_id, IllustrationProperties properties, RoleAssign assign=RoleAssign::kNew)
	Implementation of SceneGraph::AssignRole(). More...
int	RemoveRole (SourceId source_id, FrameId frame_id, Role role)
	Implementation of SceneGraph::RemoveRole(). More...
int	RemoveRole (SourceId source_id, GeometryId geometry_id, Role role)
	Implementation of SceneGraph::RemoveRole(). More...
int	RemoveFromRenderer (const std::string &renderer_name, SourceId source_id, FrameId frame_id)
	For every geometry directly registered to the frame with the given frame_id, if it has been added to the renderer with the given renderer_name it is removed from that renderer. More...
int	RemoveFromRenderer (const std::string &renderer_name, SourceId source_id, GeometryId geometry_id)
	Removes the geometry with the given geometry_id from the renderer with the given renderer_name, if it has previously been added. More...
Collision Queries
See Collision Queries for more details.
std::vector< PenetrationAsPointPair< T > >	ComputePointPairPenetration () const
	Implementation of QueryObject::ComputePointPairPenetration(). More...
template<typename T1 = T>
std::enable_if_t< scalar_predicate< T1 >::is_bool, std::vector< ContactSurface< T > > >	ComputeContactSurfaces (HydroelasticContactRepresentation representation) const
	Implementation of QueryObject::ComputeContactSurfaces(). More...
template<typename T1 = T>
std::enable_if_t< scalar_predicate< T1 >::is_bool, void >	ComputeContactSurfacesWithFallback (HydroelasticContactRepresentation representation, std::vector< ContactSurface< T >> *surfaces, std::vector< PenetrationAsPointPair< T >> *point_pairs) const
	Implementation of QueryObject::ComputeContactSurfacesWithFallback(). More...
template<typename T1 = T>
std::enable_if_t< std::is_same_v< T1, double >, void >	ComputeDeformableContact (internal::DeformableContact< T > *deformable_contact) const
	Implementation of QueryObject::ComputeDeformableContact(). More...
std::vector< SortedPair< GeometryId > >	FindCollisionCandidates () const
	Implementation of QueryObject::FindCollisionCandidates(). More...
bool	HasCollisions () const
	Implementation of QueryObject::HasCollisions(). More...
Collision filtering
CollisionFilterManager	collision_filter_manager ()
	Implementation of SceneGraph::collision_filter_manager(). More...
Signed Distance Queries
See Signed Distance Queries for more details.
std::vector< SignedDistancePair< T > >	ComputeSignedDistancePairwiseClosestPoints (double max_distance) const
	Implementation of QueryObject::ComputeSignedDistancePairwiseClosestPoints(). More...
SignedDistancePair< T >	ComputeSignedDistancePairClosestPoints (GeometryId id_A, GeometryId id_B) const
	Implementation of QueryObject::ComputeSignedDistancePairClosestPoints(). More...
std::vector< SignedDistanceToPoint< T > >	ComputeSignedDistanceToPoint (const Vector3< T > &p_WQ, double threshold) const
	Implementation of QueryObject::ComputeSignedDistanceToPoint(). More...
Render Queries
See Render Queries for more details.
void	AddRenderer (std::string name, std::unique_ptr< render::RenderEngine > renderer)
	Implementation of SceneGraph::AddRenderer(). More...
void	RemoveRenderer (const std::string &name)
	Implementation of SceneGraph::RemoveRenderer(). More...
bool	HasRenderer (const std::string &name) const
	Implementation of SceneGraph::HasRenderer(). More...
const render::RenderEngine *	GetRenderEngineByName (const std::string &name) const
	Implementation of QueryObject::GetRenderEngineByName. More...
int	RendererCount () const
	Implementation of SceneGraph::RendererCount(). More...
std::vector< std::string >	RegisteredRendererNames () const
	Implementation of SceneGraph::RegisteredRendererNames(). More...
void	RenderColorImage (const render::ColorRenderCamera &camera, FrameId parent_frame, const math::RigidTransformd &X_PC, systems::sensors::ImageRgba8U *color_image_out) const
	Implementation of QueryObject::RenderColorImage(). More...
void	RenderDepthImage (const render::DepthRenderCamera &camera, FrameId parent_frame, const math::RigidTransformd &X_PC, systems::sensors::ImageDepth32F *depth_image_out) const
	Implementation of QueryObject::RenderDepthImage(). More...
void	RenderLabelImage (const render::ColorRenderCamera &camera, FrameId parent_frame, const math::RigidTransformd &X_PC, systems::sensors::ImageLabel16I *label_image_out) const
	Implementation of QueryObject::RenderLabelImage(). More...
Scalar conversion
std::unique_ptr< GeometryState< AutoDiffXd > >	ToAutoDiffXd () const
	Returns a deep copy of this state using the AutoDiffXd scalar with all scalar values initialized from the current values. More...
Default proximity properties
void	ApplyProximityDefaults (const DefaultProximityProperties &defaults)
	Applies the default proximity values in defaults to the proximity properties of every currently registered geometry that has a proximity role. More...
void	ApplyProximityDefaults (const DefaultProximityProperties &defaults, GeometryId geometry_id)
	Applies the default proximity values in defaults to the proximity properties of the geometry with the given geometry_id as appropriate. More...

Friends
template<typename >
class	GeometryState
class	SceneGraph< T >
template<class U >
class	GeometryStateTester

Member Typedef Documentation

FrameIdRange

using FrameIdRange = internal::MapKeyRange<FrameId, internal::InternalFrame>

An object that represents the range of FrameId values in the state.

It is used in range-based for loops to iterate through registered frames.

Constructor & Destructor Documentation

GeometryState() [1/3]

GeometryState ( const GeometryState< T > &  )

default

GeometryState() [2/3]

GeometryState ( GeometryState< T > &&  )

default

GeometryState() [3/3]

GeometryState

(

)

Default constructor.

Member Function Documentation

AddRenderer()

void AddRenderer	(	std::string	name,
		std::unique_ptr< render::RenderEngine >	renderer
	)

Implementation of SceneGraph::AddRenderer().

ApplyProximityDefaults() [1/2]

void ApplyProximityDefaults

(

const DefaultProximityProperties &

defaults

)

Applies the default proximity values in defaults to the proximity properties of every currently registered geometry that has a proximity role.

For detailed semantics, see the 2-argument overload.

ApplyProximityDefaults() [2/2]

void ApplyProximityDefaults	(	const DefaultProximityProperties &	defaults,
		GeometryId	geometry_id
	)

Applies the default proximity values in defaults to the proximity properties of the geometry with the given geometry_id as appropriate.

For a given property, no value will be written if (a) defaults contains no value for it, or (b) a value has previously been set for that property.

Precondition

geometry_id indicates a geometry with an assigned proximity role.

AssignRole() [1/3]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		ProximityProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Implementation of SceneGraph::AssignRole().

AssignRole() [2/3]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		PerceptionProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Implementation of SceneGraph::AssignRole().

AssignRole() [3/3]

void AssignRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		IllustrationProperties	properties,
		RoleAssign	assign = RoleAssign::kNew
	)

Implementation of SceneGraph::AssignRole().

BelongsToSource() [1/2]

bool BelongsToSource	(	FrameId	frame_id,
		SourceId	source_id
	)		const

Implementation of SceneGraphInspector::BelongsToSource(FrameId, SourceId) const.

BelongsToSource() [2/2]

bool BelongsToSource	(	GeometryId	geometry_id,
		SourceId	source_id
	)		const

Implementation of SceneGraphInspector::BelongsToSource(GeometryId, SourceId) const.

ChangeShape()

void ChangeShape	(	SourceId	source_id,
		GeometryId	geometry_id,
		const Shape &	shape,
		std::optional< math::RigidTransform< double >>	X_FG
	)

Implementation of SceneGraph::ChangeShape().

collision_filter_manager()

CollisionFilterManager collision_filter_manager

(

)

Implementation of SceneGraph::collision_filter_manager().

CollisionFiltered()

bool CollisionFiltered	(	GeometryId	id1,
		GeometryId	id2
	)		const

Implementation of SceneGraphInspector::CollisionFiltered().

ComputeContactSurfaces()

std::enable_if_t<scalar_predicate<T1>::is_bool, std::vector<ContactSurface<T> > > ComputeContactSurfaces

(

HydroelasticContactRepresentation

representation

)

const

Implementation of QueryObject::ComputeContactSurfaces().

ComputeContactSurfacesWithFallback()

std::enable_if_t<scalar_predicate<T1>::is_bool, void> ComputeContactSurfacesWithFallback	(	HydroelasticContactRepresentation	representation,
		std::vector< ContactSurface< T >> *	surfaces,
		std::vector< PenetrationAsPointPair< T >> *	point_pairs
	)		const

Implementation of QueryObject::ComputeContactSurfacesWithFallback().

ComputeDeformableContact()

std::enable_if_t<std::is_same_v<T1, double>, void> ComputeDeformableContact

(

internal::DeformableContact< T > *

deformable_contact

)

const

Implementation of QueryObject::ComputeDeformableContact().

ComputePointPairPenetration()

std::vector<PenetrationAsPointPair<T> > ComputePointPairPenetration

(

)

const

Implementation of QueryObject::ComputePointPairPenetration().

ComputeSignedDistancePairClosestPoints()

SignedDistancePair<T> ComputeSignedDistancePairClosestPoints	(	GeometryId	id_A,
		GeometryId	id_B
	)		const

Implementation of QueryObject::ComputeSignedDistancePairClosestPoints().

ComputeSignedDistancePairwiseClosestPoints()

std::vector<SignedDistancePair<T> > ComputeSignedDistancePairwiseClosestPoints

(

double

max_distance

)

const

Implementation of QueryObject::ComputeSignedDistancePairwiseClosestPoints().

ComputeSignedDistanceToPoint()

std::vector<SignedDistanceToPoint<T> > ComputeSignedDistanceToPoint	(	const Vector3< T > &	p_WQ,
		double	threshold
	)		const

Implementation of QueryObject::ComputeSignedDistanceToPoint().

FindCollisionCandidates()

std::vector<SortedPair<GeometryId> > FindCollisionCandidates

(

)

const

Implementation of QueryObject::FindCollisionCandidates().

FramesForSource()

const FrameIdSet& FramesForSource

(

SourceId

source_id

)

const

Implementation of SceneGraphInspector::FramesForSource().

geometry_version()

const GeometryVersion& geometry_version

(

)

const

Implementation of SceneGraphInspector::GetGeometryVersion().

get_configurations_in_world()

const VectorX<T>& get_configurations_in_world

(

GeometryId

geometry_id

)

const

Implementation of QueryObject::GetConfigurationsInWorld().

get_frame_ids()

FrameIdRange get_frame_ids

(

)

const

Implementation of SceneGraphInspector::GetAllFrameIds().

get_num_frames()

int get_num_frames

(

)

const

Implementation of SceneGraphInspector::num_frames().

get_num_geometries()

int get_num_geometries

(

)

const

Implementation of SceneGraphInspector::num_geometries().

get_num_sources()

int get_num_sources

(

)

const

Implementation of SceneGraphInspector::num_sources().

get_pose_in_parent()

const math::RigidTransform<T>& get_pose_in_parent

(

FrameId

frame_id

)

const

Implementation of QueryObject::GetPoseInParent().

get_pose_in_world() [1/2]

const math::RigidTransform<T>& get_pose_in_world

(

FrameId

frame_id

)

const

Implementation of QueryObject::GetPoseInWorld(FrameId).

get_pose_in_world() [2/2]

const math::RigidTransform<T>& get_pose_in_world

(

GeometryId

geometry_id

)

const

Implementation of QueryObject::GetPoseInWorld(GeometryId).

GetAllDeformableGeometryIds()

std::vector<GeometryId> GetAllDeformableGeometryIds

(

)

const

Implementation of SceneGraphInspector::GetAllDeformableGeometryIds().

GetAllGeometryIds()

std::vector<GeometryId> GetAllGeometryIds

(

std::optional< Role >

role

)

const

Implementation of SceneGraphInspector::GetAllGeometryIds().

GetAllSourceIds()

std::vector<SourceId> GetAllSourceIds

(

)

const

Returns all of the source ids in the scene graph.

The order is guaranteed to be stable and consistent. The first element is the SceneGraph-internal source.

GetCollisionCandidates()

std::set<std::pair<GeometryId, GeometryId> > GetCollisionCandidates

(

)

const

Implementation of SceneGraphInspector::GetCollisionCandidates().

GetConvexHull()

const PolygonSurfaceMesh<double>* GetConvexHull

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetConvexHull().

GetDrivenMeshConfigurationsInWorld()

std::vector<VectorX<T> > GetDrivenMeshConfigurationsInWorld	(	GeometryId	geometry_id,
		Role	role
	)		const

Implementation of QueryObject::GetDrivenMeshConfigurationsInWorld().

GetDrivenRenderMeshes()

const std::vector<internal::RenderMesh>& GetDrivenRenderMeshes	(	GeometryId	id,
		Role	role
	)		const

Implementation of SceneGraphInspector::GetDrivenRenderMeshes().

GetFrameGroup()

int GetFrameGroup

(

FrameId

frame_id

)

const

Implementation of SceneGraphInspector::GetFrameGroup().

GetFrameId()

FrameId GetFrameId

(

GeometryId

geometry_id

)

const

Implementation of SceneGraphInspector::GetFrameId().

GetGeometries()

std::vector<GeometryId> GetGeometries	(	FrameId	frame_id,
		std::optional< Role >	role
	)		const

Implementation of SceneGraphInspector::GetGeometries.

GetGeometryIdByName()

GeometryId GetGeometryIdByName	(	FrameId	frame_id,
		Role	role,
		const std::string &	name
	)		const

Implementation of SceneGraphInspector::GetGeometryIdByName().

GetGeometryIds()

std::unordered_set<GeometryId> GetGeometryIds	(	const GeometrySet &	geometry_set,
		std::optional< Role >	role
	)		const

Implementation of SceneGraphInspector::GetGeometryIds().

GetIllustrationProperties()

const IllustrationProperties* GetIllustrationProperties

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetIllustrationProperties().

GetName() [1/3]

const std::string& GetName

(

SourceId

id

)

const

Implementation of SceneGraphInspector::GetName().

GetName() [2/3]

const std::string& GetName

(

FrameId

frame_id

)

const

Implementation of SceneGraphInspector::GetName(FrameId) const.

GetName() [3/3]

const std::string& GetName

(

GeometryId

geometry_id

)

const

Implementation of SceneGraphInspector::GetName(GeometryId) const.

GetOwningSourceName() [1/2]

const std::string& GetOwningSourceName

(

FrameId

id

)

const

Implementation of SceneGraphInspector::GetOwningSourceName(FrameId) const.

GetOwningSourceName() [2/2]

const std::string& GetOwningSourceName

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetOwningSourceName(GeometryId) const.

GetParentFrame()

FrameId GetParentFrame

(

FrameId

frame_id

)

const

Implementation of SceneGraphInspector::GetParentFrame(FrameId) const.

GetPerceptionProperties()

const PerceptionProperties* GetPerceptionProperties

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetPerceptionProperties().

GetPoseInFrame()

const math::RigidTransform<double>& GetPoseInFrame

(

GeometryId

geometry_id

)

const

Implementation of SceneGraphInspector::X_FG().

GetProximityProperties()

const ProximityProperties* GetProximityProperties

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetProximityProperties().

GetReferenceMesh()

const VolumeMesh<double>* GetReferenceMesh

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::GetReferenceMesh().

GetRenderEngineByName()

const render::RenderEngine* GetRenderEngineByName

(

const std::string &

name

)

const

Implementation of QueryObject::GetRenderEngineByName.

GetShape()

const Shape& GetShape

(

GeometryId

id

)

const

Support for SceneGraphInspector::Reify().

HasCollisions()

bool HasCollisions

(

)

const

Implementation of QueryObject::HasCollisions().

HasRenderer()

bool HasRenderer

(

const std::string &

name

)

const

Implementation of SceneGraph::HasRenderer().

IsDeformableGeometry()

bool IsDeformableGeometry

(

GeometryId

id

)

const

Implementation of SceneGraphInspector::IsDeformableGeometry().

IsValidGeometryName()

bool IsValidGeometryName	(	FrameId	frame_id,
		Role	role,
		const std::string &	candidate_name
	)		const

Reports whether the canonicalized version of the given candidate geometry name is considered valid.

This tests the requirements described in the documentation of GeometryInstance. When adding a geometry to a frame, if there is doubt if a proposed name is valid, the name can be tested prior to registering the geometry.

Parameters

frame_id	The id of the frame to which the geometry would be assigned.
role	The role for the candidate name.
candidate_name	The name to validate.

Returns

true if the candidate_name can be given to a GeometryInstance assigned to the indicated frame with the indicated role.

Exceptions

std::exception

if frame_id does not refer to a valid frame.

maybe_get_hydroelastic_mesh()

std::variant<std::monostate, const TriangleSurfaceMesh<double>*, const VolumeMesh<double>*> maybe_get_hydroelastic_mesh

(

GeometryId

geometry_id

)

const

Implementation of SceneGraphInspector::maybe_get_hydroelastic_mesh().

NumAnchoredGeometries()

int NumAnchoredGeometries

(

)

const

Implementation of SceneGraphInspector::NumAnchoredGeometries().

NumDeformableGeometries()

int NumDeformableGeometries

(

)

const

Returns the total number of registered deformable geometries.

All deformable geometries are dynamic and not anchored.

NumDeformableGeometriesWithRole()

int NumDeformableGeometriesWithRole

(

Role

role

)

const

Implementation of SceneGraphInspector::NumDeformableGeometriesWithRole().

NumDynamicGeometries()

int NumDynamicGeometries

(

)

const

Implementation of SceneGraphInspector::NumDynamicGeometries().

NumDynamicNonDeformableGeometries()

int NumDynamicNonDeformableGeometries

(

)

const

Returns the total number of registered dynamic non-deformable geometries.

NumFramesForSource()

int NumFramesForSource

(

SourceId

source_id

)

const

Implementation of SceneGraphInspector::NumFramesForSource().

NumGeometriesForFrame()

int NumGeometriesForFrame

(

FrameId

frame_id

)

const

Implementation of SceneGraphInspector::NumGeometriesForFrame().

NumGeometriesForFrameWithRole()

int NumGeometriesForFrameWithRole	(	FrameId	frame_id,
		Role	role
	)		const

Implementation of SceneGraphInspector::NumGeometriesForFrameWithRole().

NumGeometriesWithRole() [1/2]

int NumGeometriesWithRole

(

Role

role

)

const

Implementation of SceneGraphInspector::NumGeometriesWithRole().

NumGeometriesWithRole() [2/2]

int NumGeometriesWithRole	(	FrameId	frame_id,
		Role	role
	)		const

Reports the number of child geometries for this frame that have the indicated role assigned.

This only includes the immediate child geometries of this* frame, and not those of child frames.

Exceptions

std::exception

if the frame_id does not map to a valid frame.

operator=() [1/3]

GeometryState& operator= ( GeometryState< T > &&  )

default

operator=() [2/3]

GeometryState& operator= ( const GeometryState< T > &  )

default

operator=() [3/3]

std::enable_if_t<!std::is_same_v<T1, double>, GeometryState<T>&> operator=

(

const GeometryState< double > &

other

)

Allow assignment from a GeometryState<double> to a GeometryState<T>.

RegisterAnchoredGeometry()

GeometryId RegisterAnchoredGeometry	(	SourceId	source_id,
		std::unique_ptr< GeometryInstance >	geometry
	)

Implementation of SceneGraph::RegisterAnchoredGeometry().

RegisterDeformableGeometry()

GeometryId RegisterDeformableGeometry	(	SourceId	source_id,
		FrameId	frame_id,
		std::unique_ptr< GeometryInstance >	geometry,
		double	resolution_hint
	)

Implementation of SceneGraph::RegisterDeformableGeometry()

RegisteredRendererNames()

std::vector<std::string> RegisteredRendererNames

(

)

const

Implementation of SceneGraph::RegisteredRendererNames().

RegisterFrame() [1/2]

FrameId RegisterFrame	(	SourceId	source_id,
		const GeometryFrame &	frame
	)

Implementation of SceneGraph::RegisterFrame().

RegisterFrame() [2/2]

FrameId RegisterFrame	(	SourceId	source_id,
		FrameId	parent_id,
		const GeometryFrame &	frame
	)

Implementation of SceneGraph::RegisterFrame() with parent FrameId.

RegisterGeometry()

GeometryId RegisterGeometry	(	SourceId	source_id,
		FrameId	frame_id,
		std::unique_ptr< GeometryInstance >	geometry
	)

Implementation of SceneGraph::RegisterGeometry(SourceId,FrameId, std::unique_ptr<GeometryInstance>) "SceneGraph::RegisterGeometry()" with parent FrameId.

RegisterNewSource()

SourceId RegisterNewSource

(

const std::string &

name = ""

)

Implementation of SceneGraph::RegisterSource().

The default logic is to define name as "Source_##" where the number is the value of the returned SourceId.

RemoveFromRenderer() [1/2]

int RemoveFromRenderer	(	const std::string &	renderer_name,
		SourceId	source_id,
		FrameId	frame_id
	)

For every geometry directly registered to the frame with the given frame_id, if it has been added to the renderer with the given renderer_name it is removed from that renderer.

Returns

The number of geometries affected by the removal.

Exceptions

std::exception

if a) source_id does not map to a registered source, b) frame_id does not map to a registered frame, c) frame_id does not belong to source_id (unless frame_id is the world frame id), or d) the context has already been allocated.

RemoveFromRenderer() [2/2]

int RemoveFromRenderer	(	const std::string &	renderer_name,
		SourceId	source_id,
		GeometryId	geometry_id
	)

Removes the geometry with the given geometry_id from the renderer with the given renderer_name, if it has previously been added.

Returns

The number of geometries affected by the removal (0 or 1).

Exceptions

std::exception

if a) source_id does not map to a registered source, b) geometry_id does not map to a registered geometry, c) geometry_id does not belong to source_id, or d) the context has already been allocated.

RemoveGeometry()

void RemoveGeometry	(	SourceId	source_id,
		GeometryId	geometry_id
	)

Implementation of SceneGraph::RemoveGeometry().

RemoveRenderer()

void RemoveRenderer

(

const std::string &

name

)

Implementation of SceneGraph::RemoveRenderer().

RemoveRole() [1/2]

int RemoveRole	(	SourceId	source_id,
		FrameId	frame_id,
		Role	role
	)

Implementation of SceneGraph::RemoveRole().

RemoveRole() [2/2]

int RemoveRole	(	SourceId	source_id,
		GeometryId	geometry_id,
		Role	role
	)

Implementation of SceneGraph::RemoveRole().

RenameFrame()

void RenameFrame	(	FrameId	frame_id,
		const std::string &	name
	)

Implementation of SceneGraph::RenameFrame().

RenameGeometry()

void RenameGeometry	(	GeometryId	geometry_id,
		const std::string &	name
	)

Implementation of SceneGraph::RenameGeometry().

RenderColorImage()

void RenderColorImage	(	const render::ColorRenderCamera &	camera,
		FrameId	parent_frame,
		const math::RigidTransformd &	X_PC,
		systems::sensors::ImageRgba8U *	color_image_out
	)		const

Implementation of QueryObject::RenderColorImage().

Precondition

All poses have already been updated.

RenderDepthImage()

void RenderDepthImage	(	const render::DepthRenderCamera &	camera,
		FrameId	parent_frame,
		const math::RigidTransformd &	X_PC,
		systems::sensors::ImageDepth32F *	depth_image_out
	)		const

Implementation of QueryObject::RenderDepthImage().

Precondition

All poses have already been updated.

RendererCount()

int RendererCount

(

)

const

Implementation of SceneGraph::RendererCount().

RenderLabelImage()

void RenderLabelImage	(	const render::ColorRenderCamera &	camera,
		FrameId	parent_frame,
		const math::RigidTransformd &	X_PC,
		systems::sensors::ImageLabel16I *	label_image_out
	)		const

Implementation of QueryObject::RenderLabelImage().

Precondition

All poses have already been updated.

SourceIsRegistered()

bool SourceIsRegistered

(

SourceId

source_id

)

const

Implementation of SceneGraphInspector::SourceIsRegistered().

ToAutoDiffXd()

std::unique_ptr<GeometryState<AutoDiffXd> > ToAutoDiffXd

(

)

const

Returns a deep copy of this state using the AutoDiffXd scalar with all scalar values initialized from the current values.

If this is invoked on an instance already instantiated on AutoDiffXd, it is equivalent to cloning the instance.

Friends And Related Function Documentation

GeometryState

friend class GeometryState

friend

GeometryStateTester

friend class GeometryStateTester

friend

SceneGraph< T >

friend class SceneGraph< T >

friend

---

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

• drake/geometry/collision_filter_manager.h
• drake/geometry/geometry_state.h