Detailed Description

This is storage for parsed collision filter groups and group pairs.

This data may be useful to users needing to compose further collision filters in code, without having to restate the data already captured in model files.

The contents of this object will be made up of names of collision filter groups and bodies. By convention, the name strings are treated as scoped names.

Note that this object enforces few invariants on the data. In the expected workflow, the parser will add groups and exclusion pairs found during parsing. The only condition checked here is that a group with a given name is only added once.

#include <drake/multibody/parsing/collision_filter_groups.h>

Public Member Functions
	CollisionFilterGroups ()

	~CollisionFilterGroups ()

bool	operator== (const CollisionFilterGroups &) const

void	AddGroup (const std::string &name, const std::set< std::string > &members)
	Adds a new collision filter group. More...

void	AddExclusionPair (const SortedPair< std::string > &pair)
	Adds an exclusion pair between two collision filter groups. More...

bool	empty () const

const std::map< std::string, std::set< std::string > > &	groups () const

const std::set< SortedPair< std::string > > &	exclusion_pairs () const

std::string	to_string () const

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	CollisionFilterGroups (const CollisionFilterGroups &)

CollisionFilterGroups &	operator= (const CollisionFilterGroups &)

	CollisionFilterGroups (CollisionFilterGroups &&)

CollisionFilterGroups &	operator= (CollisionFilterGroups &&)

Constructor & Destructor Documentation

◆ CollisionFilterGroups() [1/3]

CollisionFilterGroups ( const CollisionFilterGroups & )

◆ CollisionFilterGroups() [2/3]

CollisionFilterGroups ( CollisionFilterGroups && )

◆ CollisionFilterGroups() [3/3]

CollisionFilterGroups ( )

◆ ~CollisionFilterGroups()

~CollisionFilterGroups ( )

Member Function Documentation

◆ AddExclusionPair()

void AddExclusionPair ( const SortedPair< std::string > & pair )

Adds an exclusion pair between two collision filter groups.

Parameters

pair	a pair of fully-qualified scoped names of groups.

Note: A pair can consist of the same name twice, which means the pair defines a rule where all members of the group exclude each other. Adding an already defined pair does nothing.

◆ AddGroup()

void AddGroup	(	const std::string &	name,
		const std::set< std::string > &	members
	)

Adds a new collision filter group.

Parameters

name	the fully-qualified scoped name of the group being defined.
members	the fully-qualified scoped names of the member bodies.

Precondition: name is not already a defined group in this object.

◆ empty()

bool empty ( ) const

Returns: true iff both groups() and exclusion_pairs() are empty.

◆ exclusion_pairs()

const std::set<SortedPair<std::string> >& exclusion_pairs ( ) const

Returns: the pairs stored by prior calls to AddExclusionPair().

◆ groups()

const std::map<std::string, std::set<std::string> >& groups ( ) const

Returns: the groups stored by prior calls to AddGroup().

◆ operator=() [1/2]

CollisionFilterGroups& operator= ( const CollisionFilterGroups & )

◆ operator=() [2/2]

CollisionFilterGroups& operator= ( CollisionFilterGroups && )

◆ operator==()

bool operator== ( const CollisionFilterGroups & ) const

◆ to_string()

std::string to_string ( ) const

Returns: a multi-line human-readable representation of this' contents.

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

drake/multibody/parsing/collision_filter_groups.h