Choreonoid  1.5
ODECollisionDetector.h
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1 
6 #ifndef CNOID_ODEPLUGIN__ODE_COLLISION_DETECTOR_H_INCLUDED
7 #define CNOID_ODEPLUGIN__ODE_COLLISION_DETECTOR_H_INCLUDED
8 
9 #include <cnoid/CollisionDetector>
10 #ifdef GAZEBO_ODE
11 #define ODECollisionDetector GazeboODECollisionDetector
12 #endif
13 
14 namespace cnoid {
15 
16 class ODECollisionDetectorImpl;
17 
19 {
20 public:
22  virtual ~ODECollisionDetector();
23  virtual const char* name() const;
24  virtual CollisionDetectorPtr clone() const;
25  virtual void clearGeometries();
26  virtual int numGeometries() const;
27  virtual int addGeometry(SgNodePtr geometry);
28  virtual void setGeometryStatic(int geometryId, bool isStatic = true);
29  virtual bool enableGeometryCache(bool on);
30  virtual void clearGeometryCache(SgNodePtr geometry);
31  virtual void clearAllGeometryCaches();
32  virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2);
33  virtual bool makeReady();
34  virtual void updatePosition(int geometryId, const Position& position);
35  virtual void detectCollisions(boost::function<void(const CollisionPair&)> callback);
36 
37 private:
38  ODECollisionDetectorImpl* impl;
39 };
40 
41 typedef boost::shared_ptr<ODECollisionDetector> ODECollisionDetectorPtr;
42 }
43 
44 #endif
virtual bool makeReady()
Definition: ODECollisionDetector.cpp:362
boost::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: CollisionDetector.h:23
virtual int numGeometries() const
Definition: ODECollisionDetector.cpp:171
Definition: CollisionDetector.h:26
virtual void detectCollisions(boost::function< void(const CollisionPair &)> callback)
Definition: ODECollisionDetector.cpp:465
virtual void clearGeometryCache(SgNodePtr geometry)
Definition: ODECollisionDetector.cpp:331
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
virtual const char * name() const
Definition: ODECollisionDetector.cpp:150
virtual ~ODECollisionDetector()
Definition: ODECollisionDetector.cpp:136
Definition: ODECollisionDetector.h:18
virtual bool enableGeometryCache(bool on)
Definition: ODECollisionDetector.cpp:325
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
virtual void clearAllGeometryCaches()
Definition: ODECollisionDetector.cpp:337
virtual void clearGeometries()
Definition: ODECollisionDetector.cpp:162
virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2)
Definition: ODECollisionDetector.cpp:343
ODECollisionDetector()
Definition: ODECollisionDetector.cpp:121
virtual CollisionDetectorPtr clone() const
Definition: ODECollisionDetector.cpp:156
virtual int addGeometry(SgNodePtr geometry)
Definition: ODECollisionDetector.cpp:177
virtual void setGeometryStatic(int geometryId, bool isStatic=true)
Definition: ODECollisionDetector.cpp:316
boost::shared_ptr< ODECollisionDetector > ODECollisionDetectorPtr
Definition: ODECollisionDetector.h:41
virtual void updatePosition(int geometryId, const Position &position)
Definition: ODECollisionDetector.cpp:391
Definition: CollisionDetector.h:17