robowflex::darts::ACM Class Reference

Allowable collision matrix for robowflex::darts::Structure. More...

#include <acm.h>

Public Member Functions
	ACM (const Structure *structure)
	Constructor. More...
const Structure *	getStructure () const
	Get the structure this ACM is for. More...
Enabling / Disabling Collisions
void	disableCollision (const std::string &a, const std::string &b)
	Disable collisions between body frames a and b. More...
void	enableCollision (const std::string &a, const std::string &b)
	Enable collisions between body frames a and b. More...
ACM Information
std::set< std::pair< std::string, std::string > > &	getDisabledPairs ()
	Get the pairs of frames that have collision disabled. More...
const std::set< std::pair< std::string, std::string > > &	getDisabledPairsConst () const
	Get the pairs of frames that have collision disabled. More...
std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	getFilter ()
	Get the Dart collision filter corresponding to this ACM. More...
const std::shared_ptr< dart::collision::BodyNodeCollisionFilter > &	getFilterConst () const
	Get the Dart collision filter corresponding to this ACM. More...

Private Member Functions
std::pair< std::string, std::string >	makeKey (const std::string &a, const std::string &b) const
	Create a unique key for two frame names. More...
dart::dynamics::BodyNode *	getBodyNode (const std::string &key)
	Get the body node in the structure corresponding to the body frame name. More...

Private Attributes
const Structure *	structure_
	Structure this ACM is for. More...
std::set< std::pair< std::string, std::string > >	acm_
	Disabled collision pairs. More...
std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	filter_
	Collision filter. More...

Detailed Description

Allowable collision matrix for robowflex::darts::Structure.

Definition at line 33 of file acm.h.

Constructor & Destructor Documentation

ACM()

ACM::ACM

(

const Structure *

structure

)

Constructor.

Parameters

[in]

structure

The structure the ACM is for.

ACM

Definition at line 10 of file acm.cpp.

  : structure_(structure), filter_(std::make_shared<dart::collision::BodyNodeCollisionFilter>())
{
}

Member Function Documentation

disableCollision()

void ACM::disableCollision	(	const std::string &	a,
		const std::string &	b
	)

Disable collisions between body frames a and b.

Parameters

[in]	a	Body frame A.
[in]	b	Body frame B.

Definition at line 15 of file acm.cpp.

{
    auto key = makeKey(a, b);
    if (acm_.find(key) == acm_.end())
    {
        acm_.emplace(key);
        filter_->addBodyNodePairToBlackList(getBodyNode(key.first), getBodyNode(key.second));
    }
}

enableCollision()

void ACM::enableCollision	(	const std::string &	a,
		const std::string &	b
	)

Enable collisions between body frames a and b.

Parameters

[in]	a	Body frame A.
[in]	b	Body frame B.

Definition at line 25 of file acm.cpp.

{
    auto key = makeKey(a, b);
    auto it = acm_.find(key);
    if (it != acm_.end())
    {
        filter_->removeBodyNodePairFromBlackList(getBodyNode(key.first), getBodyNode(key.second));
        acm_.erase(it);
    }
}

getBodyNode()

dart::dynamics::BodyNode * ACM::getBodyNode ( const std::string &  key )

private

Get the body node in the structure corresponding to the body frame name.

Parameters

[in]

key

Name of body frame.

Returns

Body frame in structure.

Definition at line 69 of file acm.cpp.

{
    return structure_->getSkeletonConst()->getBodyNode(key);
}

getDisabledPairs()

std::set< std::pair< std::string, std::string > > & ACM::getDisabledPairs

(

)

Get the pairs of frames that have collision disabled.

Returns

The set of pairs with collision disabled.

Definition at line 51 of file acm.cpp.

{
    return acm_;
}

getDisabledPairsConst()

const std::set< std::pair< std::string, std::string > > & ACM::getDisabledPairsConst

(

)

const

Get the pairs of frames that have collision disabled.

Returns

The set of pairs with collision disabled.

Definition at line 56 of file acm.cpp.

{
    return acm_;
}

getFilter()

std::shared_ptr< dart::collision::BodyNodeCollisionFilter > ACM::getFilter

(

)

Get the Dart collision filter corresponding to this ACM.

Returns

The collision filter.

Definition at line 36 of file acm.cpp.

{
    return filter_;
}

getFilterConst()

const std::shared_ptr< dart::collision::BodyNodeCollisionFilter > & ACM::getFilterConst

(

)

const

Get the Dart collision filter corresponding to this ACM.

Returns

The collision filter.

Definition at line 41 of file acm.cpp.

{
    return filter_;
}

getStructure()

const Structure * ACM::getStructure

(

)

const

Get the structure this ACM is for.

Returns

The structure for the ACM.

Definition at line 46 of file acm.cpp.

{
    return structure_;
}

makeKey()

std::pair< std::string, std::string > ACM::makeKey ( const std::string &  a, const std::string &  b  ) const

private

Create a unique key for two frame names.

Parameters

[in]	a	Body frame A.
[in]	b	Body frame B.

Returns

Key for disabled collision in ACM.

Definition at line 61 of file acm.cpp.

{
    if (a < b)
        return std::make_pair(a, b);
 
    return std::make_pair(b, a);
}

Member Data Documentation

acm_

std::set<std::pair<std::string, std::string> > robowflex::darts::ACM::acm_

private

Disabled collision pairs.

Definition at line 103 of file acm.h.

filter_

std::shared_ptr<dart::collision::BodyNodeCollisionFilter> robowflex::darts::ACM::filter_

private

Collision filter.

Definition at line 104 of file acm.h.

structure_

const Structure* robowflex::darts::ACM::structure_

private

Structure this ACM is for.

Definition at line 102 of file acm.h.

---

The documentation for this class was generated from the following files:

• acm.h
• acm.cpp