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

◆ 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
strong
Enumerator
kUnusable 
kFcl 

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.