Choreonoid  1.5
AISTCollisionDetector.h
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1 
6 #ifndef CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED
7 #define CNOID_AIST_COLLISION_DETECTOR_AIST_COLLISION_DETECTOR_H_INCLUDED
8 
9 #include <cnoid/CollisionDetector>
10 #include "exportdecl.h"
11 
12 namespace cnoid {
13 
14 class AISTCollisionDetectorImpl;
15 
17 {
18 public:
20  virtual ~AISTCollisionDetector();
21  virtual const char* name() const;
22  virtual CollisionDetectorPtr clone() 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);
34 
35 private:
36  AISTCollisionDetectorImpl* impl;
37 };
38 
39 typedef boost::shared_ptr<AISTCollisionDetector> AISTCollisionDetectorPtr;
40 }
41 
42 #endif
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