6 #ifndef CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED 7 #define CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED 9 #include <cnoid/CollisionDetector> 14 class AISTCollisionDetectorImpl;
21 virtual const char* name()
const;
23 virtual void clearGeometries();
24 virtual int numGeometries()
const;
25 virtual int addGeometry(
SgNodePtr geometry);
26 virtual void setGeometryStatic(
int geometryId,
bool isStatic =
true);
27 virtual bool enableGeometryCache(
bool on);
28 virtual void clearGeometryCache(
SgNodePtr geometry);
29 virtual void clearAllGeometryCaches();
30 virtual void setNonInterfarenceGeometyrPair(
int geometryId1,
int geometryId2);
31 virtual bool makeReady();
32 virtual void updatePosition(
int geometryId,
const Position& position);
33 virtual void detectCollisions(boost::function<
void(
const CollisionPair&)> callback);
36 AISTCollisionDetectorImpl* impl;
boost::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: CollisionDetector.h:23
Definition: CollisionDetector.h:26
boost::shared_ptr< AISTCollisionDetector > AISTCollisionDetectorPtr
Definition: AISTCollisionDetector.h:39
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: AISTCollisionDetector.h:16
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: CollisionDetector.h:17