pinocchio  2.6.3
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl > Class Template Reference
Inheritance diagram for GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl >:
Collaboration diagram for GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl >:

Public Types

enum  { Options = _Options }
 
typedef ModelPoolTpl< _Scalar, _Options, JointCollectionTpl > Base
 
typedef Base::Data Data
 
typedef Base::DataVector DataVector
 
typedef ::pinocchio::GeometryData GeometryData
 
typedef std::vector< GeometryData, Eigen::aligned_allocator< GeometryData > > GeometryDataVector
 
typedef ::pinocchio::GeometryModel GeometryModel
 
typedef std::vector< GeometryModel, Eigen::aligned_allocator< GeometryModel > > GeometryModelVector
 
typedef Base::Model Model
 
typedef _Scalar Scalar
 
- Public Types inherited from ModelPoolTpl< _Scalar, _Options, JointCollectionTpl >
enum  { Options = _Options }
 
typedef DataTpl< Scalar, Options, JointCollectionTpl > Data
 
typedef std::vector< Data, Eigen::aligned_allocator< Data > > DataVector
 
typedef ModelTpl< Scalar, Options, JointCollectionTpl > Model
 
typedef std::vector< Model, Eigen::aligned_allocator< Model > > ModelVector
 
typedef _Scalar Scalar
 

Public Member Functions

 GeometryPoolTpl (const Model &model, const GeometryModel &geometry_model, const int pool_size=omp_get_max_threads())
 Default constructor from a model and a pool size. More...
 
 GeometryPoolTpl (const GeometryPoolTpl &other)
 Copy constructor from an other GeometryPoolTpl. More...
 
virtual ~GeometryPoolTpl ()
   More...
 
const GeometryDatageometry_data (const size_t index) const
 Returns the geometry_data at index.
 
GeometryDatageometry_data (const size_t index)
 Returns the geometry_data at index.
 
const GeometryDataVector & geometry_datas () const
 Vector of Geometry Data.
 
GeometryDataVector & geometry_datas ()
 Vector of Geometry Data.
 
const GeometryModelgeometry_model () const
 Returns the geometry model.
 
GeometryModelgeometry_model ()
 Returns the geometry model.
 
void update (const GeometryData &geometry_data)
 Update the geometry datas with the new value. More...
 
void update (const GeometryModel &geometry_model)
 Update the geometry model with the new input value. In this case, all the geometry_datas will be replaced. More...
 
void update (const GeometryModel &geometry_model, const GeometryData &geometry_data)
 Update the geometry model and data with the new input values. In this case, all the geometry_datas will be replaced. More...
 
- Public Member Functions inherited from ModelPoolTpl< _Scalar, _Options, JointCollectionTpl >
 ModelPoolTpl (const Model &model, const int pool_size=omp_get_max_threads())
 Default constructor from a model and a pool size. More...
 
 ModelPoolTpl (const ModelPoolTpl &pool_model)
 Copy constructor from an other PoolModel. More...
 
virtual ~ModelPoolTpl ()
   More...
 
const Datadata (const size_t index) const
 Return a specific data.
 
Datadata (const size_t index)
 Returns a specific data.
 
const DataVector & datas () const
 Returns the data vectors.
 
DataVector & datas ()
 Returns the data vectors.
 
const Modelmodel () const
 Returns the model stored within the pool.
 
Modelmodel ()
 Returns the model stored within the pool.
 
void resize (const int new_size)
 Set the size of the pool and perform the appropriate resize.
 
int size () const
 Returns the size of the pool.
 
void update (const Model &model)
 Update the model, meaning that all the datas will be refreshed accordingly. More...
 
void update (const Data &data)
 Update all the datas with the input data value. More...
 
void update (const Model &model, const Data &data)
 Update the model and data with the new input values. In this case, all the geometry_datas will be replaced. More...
 

Protected Member Functions

virtual void do_resize (const int new_size)
   More...
 

Protected Attributes

GeometryDataVector m_geometry_datas
 Vector of Geometry Data associated to the pool.
 
GeometryModel m_geometry_model
 Geometry Model associated to the pool.
 
- Protected Attributes inherited from ModelPoolTpl< _Scalar, _Options, JointCollectionTpl >
DataVector m_datas
   More...
 
Model m_model
 Model stored within the pool.
 
int m_size
 Number of threads used for parallel computations.
 

Detailed Description

template<typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl>
class pinocchio::GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl >

Definition at line 16 of file geometry.hpp.

Constructor & Destructor Documentation

◆ GeometryPoolTpl() [1/2]

GeometryPoolTpl ( const Model model,
const GeometryModel geometry_model,
const int  pool_size = omp_get_max_threads() 
)
inline

Default constructor from a model and a pool size.

Parameters
[in]modelinput model used for parallel computations.
[in]geometry_modelinput geometry model used for parallel computations.
[in]pool_sizetotal size of the pool.

Definition at line 42 of file geometry.hpp.

◆ GeometryPoolTpl() [2/2]

GeometryPoolTpl ( const GeometryPoolTpl< _Scalar, _Options, JointCollectionTpl > &  other)
inline

Copy constructor from an other GeometryPoolTpl.

Parameters
[in]otherGeometryPoolTpl to copy.

Definition at line 53 of file geometry.hpp.

◆ ~GeometryPoolTpl()

virtual ~GeometryPoolTpl ( )
inlinevirtual

 

Destructor

Definition at line 130 of file geometry.hpp.

Member Function Documentation

◆ do_resize()

virtual void do_resize ( const int  new_size)
inlineprotectedvirtual

 

Method to implement in the derived classes.

Reimplemented from ModelPoolTpl< _Scalar, _Options, JointCollectionTpl >.

Definition at line 141 of file geometry.hpp.

◆ update() [1/3]

void update ( const GeometryData geometry_data)
inline

Update the geometry datas with the new value.

 

Parameters
[in]geometry_datanew geometry data value

Definition at line 97 of file geometry.hpp.

◆ update() [2/3]

void update ( const GeometryModel geometry_model)
inline

Update the geometry model with the new input value. In this case, all the geometry_datas will be replaced.

Parameters
[in]geometry_modelnew geometry model value.

Definition at line 108 of file geometry.hpp.

◆ update() [3/3]

void update ( const GeometryModel geometry_model,
const GeometryData geometry_data 
)
inline

Update the geometry model and data with the new input values. In this case, all the geometry_datas will be replaced.

Parameters
[in]geometry_modelnew geometry model value.
[in]geometry_datanew geometry data value

Definition at line 122 of file geometry.hpp.


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