The class of collision scene. More...

#include <collision_scene.h>

Inheritance diagram for exotica::CollisionScene:

[legend]

Public Member Functions
void	AssignScene (std::shared_ptr< Scene > scene)
	Sets a scene pointer to the CollisionScene for access to methods. More...

	CollisionScene ()

virtual std::vector< ContinuousCollisionProxy >	ContinuousCollisionCast (const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> &)
	Performs a continuous collision check by casting the active objects passed in against the static environment. More...

virtual ContinuousCollisionProxy	ContinuousCollisionCheck (const std::string &, const KDL::Frame &, const KDL::Frame &, const std::string &, const KDL::Frame &, const KDL::Frame &)
	Performs a continuous collision check between two objects with a linear interpolation between two given. More...

bool	get_replace_cylinders_with_capsules () const

bool	GetAlwaysExternallyUpdatedCollisionScene () const

virtual std::vector< CollisionProxy >	GetCollisionDistance (bool)
	Computes collision distances. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &, const bool &)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &, const bool &, const bool &)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &, const std::string &)
	Computes collision distances between two objects. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::vector< std::string > &, const bool &)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to any of the objects. More...

virtual std::vector< std::string >	GetCollisionRobotLinks ()=0
	Gets the collision robot links. More...

virtual std::vector< std::string >	GetCollisionWorldLinks ()=0
	Gets the collision world links. More...

bool	GetReplacePrimitiveShapesWithMeshes () const

double	GetRobotLinkPadding () const

double	GetRobotLinkScale () const

virtual std::vector< CollisionProxy >	GetRobotToRobotCollisionDistance (double)
	Gets the closest distances between links within the robot that are closer than check_margin. More...

virtual std::vector< CollisionProxy >	GetRobotToWorldCollisionDistance (double)
	Gets the closest distances between links of the robot and the environment that are closer than check_margin. More...

virtual Eigen::Vector3d	GetTranslation (const std::string &name)=0
	Returns the translation of the named collision object. More...

double	GetWorldLinkPadding () const

double	GetWorldLinkScale () const

virtual void	InstantiateBase (const Initializer &init)
	Instantiates the base properties of the CollisionScene. More...

virtual bool	IsAllowedToCollide (const std::string &o1, const std::string &o2, const bool &self)
	Returns whether two collision objects/shapes are allowed to collide by name. More...

virtual bool	IsCollisionFree (const std::string &, const std::string &, double=0.0)
	Checks if two objects are in collision. More...

virtual bool	IsStateValid (bool self=true, double safe_distance=0.0)=0
	Checks if the whole robot is valid (collision only). More...

void	set_replace_cylinders_with_capsules (const bool value)

void	SetACM (const AllowedCollisionMatrix &acm)

void	SetAlwaysExternallyUpdatedCollisionScene (const bool value)

void	SetReplacePrimitiveShapesWithMeshes (const bool value)

void	SetRobotLinkPadding (const double padding)

void	SetRobotLinkScale (const double scale)

virtual void	Setup ()
	Setup additional construction that requires initialiser parameter. More...

void	SetWorldLinkPadding (const double padding)

void	SetWorldLinkScale (const double scale)

virtual void	UpdateCollisionObjects (const std::map< std::string, std::weak_ptr< KinematicElement >> &objects)=0
	Creates the collision scene from kinematic elements. More...

virtual void	UpdateCollisionObjectTransforms ()=0
	Updates collision object transformations from the kinematic tree. More...

virtual	~CollisionScene ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0

virtual Initializer	GetInitializerTemplate ()=0

	InstantiableBase ()=default

virtual void	InstantiateInternal (const Initializer &init)=0

virtual	~InstantiableBase ()=default

Public Attributes
bool	debug_ = false

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Attributes
AllowedCollisionMatrix	acm_
	The allowed collision matrix. More...

bool	always_externally_updated_collision_scene_ = false
	Whether the collision scene is automatically updated - if not, update on queries. More...

bool	needs_update_of_collision_objects_ = true
	Indicates whether TriggerUpdateCollisionObjects needs to be called. More...

bool	replace_cylinders_with_capsules_ = false
	Replace cylinders with capsules internally. More...

bool	replace_primitive_shapes_with_meshes_ = false
	Replace primitive shapes with meshes internally (e.g. when primitive shape algorithms are brittle, i.e. in FCL) More...

double	robot_link_padding_ = 0.0
	Robot link padding. More...

std::string	robot_link_replacement_config_ = ""
	Filename for config file (YAML) which contains shape replacements. More...

double	robot_link_scale_ = 1.0
	Robot link scaling. More...

std::weak_ptr< Scene >	scene_
	Stores a pointer to the Scene which owns this CollisionScene. More...

double	world_link_padding_ = 0.0
	World link padding. More...

double	world_link_scale_ = 1.0
	World link scaling. More...

Detailed Description

The class of collision scene.

Definition at line 152 of file collision_scene.h.

Constructor & Destructor Documentation

◆ CollisionScene()

exotica::CollisionScene::CollisionScene ( )

inline

Definition at line 155 of file collision_scene.h.

◆ ~CollisionScene()

virtual exotica::CollisionScene::~CollisionScene ( )

inlinevirtual

Definition at line 156 of file collision_scene.h.

Member Function Documentation

◆ AssignScene()

void exotica::CollisionScene::AssignScene ( std::shared_ptr< Scene > scene )

inline

Sets a scene pointer to the CollisionScene for access to methods.

Definition at line 305 of file collision_scene.h.

◆ ContinuousCollisionCast()

virtual std::vector<ContinuousCollisionProxy> exotica::CollisionScene::ContinuousCollisionCast ( const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> & )

inlinevirtual

Performs a continuous collision check by casting the active objects passed in against the static environment.

Parameters

[in] motion_transforms A tuple consisting out of collision object name and its beginning and final transform.

Returns: Vector of deepest ContinuousCollisionProxy (one per dimension).

Definition at line 229 of file collision_scene.h.

◆ ContinuousCollisionCheck()

virtual ContinuousCollisionProxy exotica::CollisionScene::ContinuousCollisionCheck	(	const std::string &	,
		const KDL::Frame &	,
		const KDL::Frame &	,
		const std::string &	,
		const KDL::Frame &	,
		const KDL::Frame &
	)

inlinevirtual

Performs a continuous collision check between two objects with a linear interpolation between two given.

Parameters

[in]	o1	The first collision object, by name.
[in]	tf1_beg	The beginning transform for o1.
[in]	tf1_end	The end transform for o1.
[in]	o2	The second collision object, by name.
[in]	tf2_beg	The beginning transform for o2.
[in]	tf2_end	The end transform for o2.

Returns: ContinuousCollisionProxy.

Definition at line 225 of file collision_scene.h.

◆ get_replace_cylinders_with_capsules()

bool exotica::CollisionScene::get_replace_cylinders_with_capsules ( ) const

inline

Definition at line 295 of file collision_scene.h.

◆ GetAlwaysExternallyUpdatedCollisionScene()

bool exotica::CollisionScene::GetAlwaysExternallyUpdatedCollisionScene ( ) const

inline

Definition at line 239 of file collision_scene.h.

◆ GetCollisionDistance() [1/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance ( bool )

inlinevirtual

Computes collision distances.

Parameters

self	Indicate if self collision check is required.

Returns: Collision proximity objects for all colliding pairs of shapes.

Definition at line 183 of file collision_scene.h.

◆ GetCollisionDistance() [2/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	,
		const bool &
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1.

Parameters

[in] o1 Name of object 1.

Returns: Vector of proximity objects.

Definition at line 192 of file collision_scene.h.

◆ GetCollisionDistance() [3/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	,
		const bool &	,
		const bool &
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1.

Parameters

[in]	o1	Name of object 1.
[in]	disable_collision_scene_update	Allows disabling of collision object transforms (requires manual update).

Returns: Vector of proximity objects.

Definition at line 197 of file collision_scene.h.

◆ GetCollisionDistance() [4/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	,
		const std::string &
	)

inlinevirtual

Computes collision distances between two objects.

Parameters

o1	Name of object 1.
o2	Name of object 2.

Returns: Vector of proximity objects.

Definition at line 188 of file collision_scene.h.

◆ GetCollisionDistance() [5/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::vector< std::string > &	,
		const bool &
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to any of the objects.

Parameters

[in] objects Vector of object names.

Returns: Vector of proximity objects.

Definition at line 202 of file collision_scene.h.

◆ GetCollisionRobotLinks()

virtual std::vector<std::string> exotica::CollisionScene::GetCollisionRobotLinks ( )

pure virtual

Gets the collision robot links.

Returns: The collision robot links.

◆ GetCollisionWorldLinks()

virtual std::vector<std::string> exotica::CollisionScene::GetCollisionWorldLinks ( )

pure virtual

Gets the collision world links.

Returns: The collision world links.

◆ GetReplacePrimitiveShapesWithMeshes()

bool exotica::CollisionScene::GetReplacePrimitiveShapesWithMeshes ( ) const

inline

Definition at line 281 of file collision_scene.h.

◆ GetRobotLinkPadding()

double exotica::CollisionScene::GetRobotLinkPadding ( ) const

inline

Definition at line 263 of file collision_scene.h.

◆ GetRobotLinkScale()

double exotica::CollisionScene::GetRobotLinkScale ( ) const

inline

Definition at line 245 of file collision_scene.h.

◆ GetRobotToRobotCollisionDistance()

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetRobotToRobotCollisionDistance ( double )

inlinevirtual

Gets the closest distances between links within the robot that are closer than check_margin.

Parameters

[in] check_margin Margin for distance checks - only objects closer than this margin will be checked

Definition at line 205 of file collision_scene.h.

◆ GetRobotToWorldCollisionDistance()

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetRobotToWorldCollisionDistance ( double )

inlinevirtual

Gets the closest distances between links of the robot and the environment that are closer than check_margin.

Parameters

[in] check_margin Margin for distance checks - only objects closer than this margin will be checked

Definition at line 208 of file collision_scene.h.

◆ GetTranslation()

virtual Eigen::Vector3d exotica::CollisionScene::GetTranslation ( const std::string & name )

pure virtual

Returns the translation of the named collision object.

Parameters

[in] name Name of the collision object to query.

◆ GetWorldLinkPadding()

double exotica::CollisionScene::GetWorldLinkPadding ( ) const

inline

Definition at line 272 of file collision_scene.h.

◆ GetWorldLinkScale()

double exotica::CollisionScene::GetWorldLinkScale ( ) const

inline

Definition at line 254 of file collision_scene.h.

◆ InstantiateBase()

void exotica::CollisionScene::InstantiateBase ( const Initializer & init )

virtual

Instantiates the base properties of the CollisionScene.

Reimplemented from exotica::InstantiableBase.

Definition at line 42 of file collision_scene.cpp.

◆ IsAllowedToCollide()

bool exotica::CollisionScene::IsAllowedToCollide	(	const std::string &	o1,
		const std::string &	o2,
		const bool &	self
	)

virtual

Returns whether two collision objects/shapes are allowed to collide by name.

Parameters

o1	Name of the frame of the collision object (e.g., base_link_collision_0)
o2	Name of the frame of the other collision object (e.g., base_link_collision_0)

Returns: true The two objects are allowed to collide.; false The two objects are excluded, e.g., by an ACM.

Definition at line 58 of file collision_scene.cpp.

◆ IsCollisionFree()

virtual bool exotica::CollisionScene::IsCollisionFree	(	const std::string &	,
		const std::string &	,
		double	= `0.0`
	)

inlinevirtual

Checks if two objects are in collision.

Parameters

o1	Name of object 1.
o2	Name of object 2.

Returns: True is the two objects are not colliding.

Definition at line 178 of file collision_scene.h.

◆ IsStateValid()

virtual bool exotica::CollisionScene::IsStateValid	(	bool	self = `true`,
		double	safe_distance = `0.0`
	)

pure virtual

Checks if the whole robot is valid (collision only).

Parameters

self	Indicate if self collision check is required.

Returns: True, if the state is collision free..

◆ set_replace_cylinders_with_capsules()

void exotica::CollisionScene::set_replace_cylinders_with_capsules ( const bool value )

inline

Definition at line 296 of file collision_scene.h.

◆ SetACM()

void exotica::CollisionScene::SetACM ( const AllowedCollisionMatrix & acm )

inline

Definition at line 234 of file collision_scene.h.

◆ SetAlwaysExternallyUpdatedCollisionScene()

void exotica::CollisionScene::SetAlwaysExternallyUpdatedCollisionScene ( const bool value )

inline

Definition at line 240 of file collision_scene.h.

◆ SetReplacePrimitiveShapesWithMeshes()

void exotica::CollisionScene::SetReplacePrimitiveShapesWithMeshes ( const bool value )

inline

Definition at line 282 of file collision_scene.h.

◆ SetRobotLinkPadding()

void exotica::CollisionScene::SetRobotLinkPadding ( const double padding )

inline

Definition at line 264 of file collision_scene.h.

◆ SetRobotLinkScale()

void exotica::CollisionScene::SetRobotLinkScale ( const double scale )

inline

Definition at line 246 of file collision_scene.h.

◆ Setup()

virtual void exotica::CollisionScene::Setup ( )

inlinevirtual

Setup additional construction that requires initialiser parameter.

Definition at line 161 of file collision_scene.h.

◆ SetWorldLinkPadding()

void exotica::CollisionScene::SetWorldLinkPadding ( const double padding )

inline

Definition at line 273 of file collision_scene.h.

◆ SetWorldLinkScale()

void exotica::CollisionScene::SetWorldLinkScale ( const double scale )

inline

Definition at line 255 of file collision_scene.h.

◆ UpdateCollisionObjects()

virtual void exotica::CollisionScene::UpdateCollisionObjects ( const std::map< std::string, std::weak_ptr< KinematicElement >> & objects )

pure virtual

Creates the collision scene from kinematic elements.

Parameters

objects Vector kinematic element pointers of collision objects.

◆ UpdateCollisionObjectTransforms()

virtual void exotica::CollisionScene::UpdateCollisionObjectTransforms ( )

pure virtual

Updates collision object transformations from the kinematic tree.

Member Data Documentation

◆ acm_

AllowedCollisionMatrix exotica::CollisionScene::acm_

protected

The allowed collision matrix.

Definition at line 318 of file collision_scene.h.

◆ always_externally_updated_collision_scene_

bool exotica::CollisionScene::always_externally_updated_collision_scene_ = false

protected

Whether the collision scene is automatically updated - if not, update on queries.

Definition at line 321 of file collision_scene.h.

◆ debug_

bool exotica::CollisionScene::debug_ = false

Definition at line 302 of file collision_scene.h.

◆ needs_update_of_collision_objects_

bool exotica::CollisionScene::needs_update_of_collision_objects_ = true

protected

Indicates whether TriggerUpdateCollisionObjects needs to be called.

Definition at line 312 of file collision_scene.h.

◆ replace_cylinders_with_capsules_

bool exotica::CollisionScene::replace_cylinders_with_capsules_ = false

protected

Replace cylinders with capsules internally.

Definition at line 339 of file collision_scene.h.

◆ replace_primitive_shapes_with_meshes_

bool exotica::CollisionScene::replace_primitive_shapes_with_meshes_ = false

protected

Replace primitive shapes with meshes internally (e.g. when primitive shape algorithms are brittle, i.e. in FCL)

Definition at line 336 of file collision_scene.h.

◆ robot_link_padding_

double exotica::CollisionScene::robot_link_padding_ = 0.0

protected

Robot link padding.

Definition at line 330 of file collision_scene.h.

◆ robot_link_replacement_config_

std::string exotica::CollisionScene::robot_link_replacement_config_ = ""

protected

Filename for config file (YAML) which contains shape replacements.

Definition at line 342 of file collision_scene.h.

◆ robot_link_scale_

double exotica::CollisionScene::robot_link_scale_ = 1.0

protected

Robot link scaling.

Definition at line 324 of file collision_scene.h.

◆ scene_

std::weak_ptr<Scene> exotica::CollisionScene::scene_

protected

Stores a pointer to the Scene which owns this CollisionScene.

Definition at line 315 of file collision_scene.h.

◆ world_link_padding_

double exotica::CollisionScene::world_link_padding_ = 0.0

protected

World link padding.

Definition at line 333 of file collision_scene.h.

◆ world_link_scale_

double exotica::CollisionScene::world_link_scale_ = 1.0

protected

World link scaling.

Definition at line 327 of file collision_scene.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CollisionScene()

◆ ~CollisionScene()

Member Function Documentation

◆ AssignScene()

◆ ContinuousCollisionCast()

◆ ContinuousCollisionCheck()

◆ get_replace_cylinders_with_capsules()

◆ GetAlwaysExternallyUpdatedCollisionScene()

◆ GetCollisionDistance() [1/5]

◆ GetCollisionDistance() [2/5]

◆ GetCollisionDistance() [3/5]

◆ GetCollisionDistance() [4/5]

◆ GetCollisionDistance() [5/5]

◆ GetCollisionRobotLinks()

◆ GetCollisionWorldLinks()

◆ GetReplacePrimitiveShapesWithMeshes()

◆ GetRobotLinkPadding()

◆ GetRobotLinkScale()

◆ GetRobotToRobotCollisionDistance()

◆ GetRobotToWorldCollisionDistance()

◆ GetTranslation()

◆ GetWorldLinkPadding()

◆ GetWorldLinkScale()

◆ InstantiateBase()

◆ IsAllowedToCollide()

◆ IsCollisionFree()

◆ IsStateValid()

◆ set_replace_cylinders_with_capsules()

◆ SetACM()

◆ SetAlwaysExternallyUpdatedCollisionScene()

◆ SetReplacePrimitiveShapesWithMeshes()

◆ SetRobotLinkPadding()

◆ SetRobotLinkScale()

◆ Setup()

◆ SetWorldLinkPadding()

◆ SetWorldLinkScale()

◆ UpdateCollisionObjects()

◆ UpdateCollisionObjectTransforms()

Member Data Documentation

◆ acm_

◆ always_externally_updated_collision_scene_

◆ debug_

◆ needs_update_of_collision_objects_

◆ replace_cylinders_with_capsules_

◆ replace_primitive_shapes_with_meshes_

◆ robot_link_padding_

◆ robot_link_replacement_config_

◆ robot_link_scale_

◆ scene_

◆ world_link_padding_

◆ world_link_scale_