drake::multibody::collision Namespace Reference




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...


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


enum  ModelType { kUnusable = 0, kFcl = 1 }


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...


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

Typedef Documentation

◆ bitmask

typedef std::bitset<kMaxNumCollisionFilterGroups> bitmask

◆ ElementId

typedef uintptr_t ElementId

◆ ElementIdPair

typedef std::pair<ElementId, ElementId> ElementIdPair

◆ ElementToBtObjMap

typedef std::unordered_map<ElementId, std::unique_ptr<btCollisionObject> > ElementToBtObjMap

Enumeration Type Documentation

◆ ModelType

enum ModelType

Function Documentation

◆ kDefaultGroup()

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

◆ kNoneMask()

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

◆ newModel()

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

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

◆ operator<<() [1/2]

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

A toString for the collision model.

A toString method for this class.

◆ operator<<() [2/2]

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

◆ toVector3d()

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

Variable Documentation

◆ kMaxNumCollisionFilterGroups

constexpr int kMaxNumCollisionFilterGroups = 128

The maximum width of the collision filter group bitmasks.