collision_detection::CollisionEnvDistanceField Class Reference

#include <collision_env_distance_field.h>

Inheritance diagram for collision_detection::CollisionEnvDistanceField:

Classes
struct	DistanceFieldCacheEntryWorld

Public Member Functions
void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
	Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored. More...
void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const override
	Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account. More...
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
	Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked. More...
void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const override
	Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked. More...
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2) const override
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked. More...
void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const AllowedCollisionMatrix &acm) const override
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked. More...
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state) const override
	Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored. More...
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const override
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
	CollisionEnvDistanceField (const CollisionEnvDistanceField &other, const WorldPtr &world)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionEnvDistanceField (const moveit::core::RobotModelConstPtr &robot_model, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions=std::map< std::string, std::vector< CollisionSphere >>(), double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, const Eigen::Vector3d &origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)
	CollisionEnvDistanceField (const moveit::core::RobotModelConstPtr &robot_model, const WorldPtr &world, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions=std::map< std::string, std::vector< CollisionSphere >>(), double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, const Eigen::Vector3d &origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)
void	createCollisionModelMarker (const moveit::core::RobotState &state, visualization_msgs::MarkerArray &model_markers) const
void	distanceRobot (const DistanceRequest &, DistanceResult &, const moveit::core::RobotState &) const override
	Compute the distance between a robot and the world. More...
virtual double	distanceRobot (const moveit::core::RobotState &state, bool verbose=false) const
virtual double	distanceRobot (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
void	distanceSelf (const DistanceRequest &, DistanceResult &, const moveit::core::RobotState &) const override
	The distance to self-collision given the robot is at state state. More...
virtual double	distanceSelf (const moveit::core::RobotState &) const
virtual double	distanceSelf (const moveit::core::RobotState &, const collision_detection::AllowedCollisionMatrix &) const
void	getAllCollisions (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
void	getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
distance_field::DistanceFieldConstPtr	getDistanceField () const
DistanceFieldCacheEntryConstPtr	getLastDistanceFieldEntry () const
collision_detection::GroupStateRepresentationConstPtr	getLastGroupStateRepresentation () const
void	initialize (const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)
	MOVEIT_STRUCT_FORWARD (DistanceFieldCacheEntryWorld)
void	setWorld (const WorldPtr &world) override
	~CollisionEnvDistanceField () override
Public Member Functions inherited from collision_detection::CollisionEnv
	CollisionEnv ()=delete
	CollisionEnv (const CollisionEnv &other, const WorldPtr &world)
	Copy constructor. More...
	CollisionEnv (const moveit::core::RobotModelConstPtr &model, const WorldPtr &world, double padding=0.0, double scale=1.0)
	Constructor. More...
	CollisionEnv (const moveit::core::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
	Constructor. More...
double	distanceRobot (const moveit::core::RobotState &state, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...
double	distanceRobot (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...
double	distanceSelf (const moveit::core::RobotState &state) const
	The distance to self-collision given the robot is at state state. More...
double	distanceSelf (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const
	The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by. More...
const std::map< std::string, double > &	getLinkPadding () const
	Get the link paddings as a map (from link names to padding value) More...
double	getLinkPadding (const std::string &link_name) const
	Get the link padding for a particular link. More...
const std::map< std::string, double > &	getLinkScale () const
	Get the link scaling as a map (from link names to scale value) More...
double	getLinkScale (const std::string &link_name) const
	Set the scaling for a particular link. More...
void	getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const
	Get the link padding as a vector of messages. More...
const moveit::core::RobotModelConstPtr &	getRobotModel () const
	The kinematic model corresponding to this collision model. More...
void	getScale (std::vector< moveit_msgs::LinkScale > &scale) const
	Get the link scaling as a vector of messages. More...
const WorldPtr &	getWorld ()
const WorldConstPtr &	getWorld () const
void	setLinkPadding (const std::map< std::string, double > &padding)
	Set the link paddings using a map (from link names to padding value) More...
void	setLinkPadding (const std::string &link_name, double padding)
	Set the link padding for a particular link. More...
void	setLinkScale (const std::map< std::string, double > &scale)
	Set the link scaling using a map (from link names to scale value) More...
void	setLinkScale (const std::string &link_name, double scale)
	Set the scaling for a particular link. More...
void	setPadding (const std::vector< moveit_msgs::LinkPadding > &padding)
	Set the link padding from a vector of messages. More...
void	setPadding (double padding)
	Set the link padding (for every link) More...
void	setScale (const std::vector< moveit_msgs::LinkScale > &scale)
	Set the link scaling from a vector of messages. More...
void	setScale (double scale)
	Set the link scaling (for every link) More...
virtual	~CollisionEnv ()

Protected Member Functions
void	addLinkBodyDecompositions (double resolution)
void	addLinkBodyDecompositions (double resolution, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions)
void	checkSelfCollisionHelper (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
bool	compareCacheEntryToAllowedCollisionMatrix (const DistanceFieldCacheEntryConstPtr &dfce, const collision_detection::AllowedCollisionMatrix &acm) const
bool	compareCacheEntryToState (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state) const
void	generateCollisionCheckingStructures (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr, bool generate_distance_field) const
DistanceFieldCacheEntryPtr	generateDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, bool generate_distance_field) const
DistanceFieldCacheEntryWorldPtr	generateDistanceFieldCacheEntryWorld ()
DistanceFieldCacheEntryConstPtr	getDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm) const
bool	getEnvironmentCollisions (const CollisionRequest &req, CollisionResult &res, const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
bool	getEnvironmentProximityGradients (const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
void	getGroupStateRepresentation (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
bool	getIntraGroupCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
bool	getIntraGroupProximityGradients (GroupStateRepresentationPtr &gsr) const
PosedBodyPointDecompositionPtr	getPosedLinkBodyPointDecomposition (const moveit::core::LinkModel *ls) const
PosedBodySphereDecompositionPtr	getPosedLinkBodySphereDecomposition (const moveit::core::LinkModel *ls, unsigned int ind) const
bool	getSelfCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
bool	getSelfProximityGradients (GroupStateRepresentationPtr &gsr) const
void	notifyObjectChange (const ObjectConstPtr &obj, World::Action action)
void	updateDistanceObject (const std::string &id, CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr &dfce, EigenSTL::vector_Vector3d &add_points, EigenSTL::vector_Vector3d &subtract_points)
void	updatedPaddingOrScaling (const std::vector< std::string > &) override
	When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes. More...
void	updateGroupStateRepresentationState (const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const

Protected Attributes
double	collision_tolerance_
DistanceFieldCacheEntryPtr	distance_field_cache_entry_
DistanceFieldCacheEntryWorldPtr	distance_field_cache_entry_world_
std::map< std::string, std::map< std::string, bool > >	in_group_update_map_
GroupStateRepresentationPtr	last_gsr_
std::map< std::string, unsigned int >	link_body_decomposition_index_map_
std::vector< BodyDecompositionConstPtr >	link_body_decomposition_vector_
double	max_propogation_distance_
World::ObserverHandle	observer_handle_
Eigen::Vector3d	origin_
planning_scene::PlanningScenePtr	planning_scene_
std::map< std::string, GroupStateRepresentationPtr >	pregenerated_group_state_representation_map_
double	resolution_
Eigen::Vector3d	size_
boost::mutex	update_cache_lock_
boost::mutex	update_cache_lock_world_
bool	use_signed_distance_field_
Protected Attributes inherited from collision_detection::CollisionEnv
std::map< std::string, double >	link_padding_
	The internally maintained map (from link names to padding) More...
std::map< std::string, double >	link_scale_
	The internally maintained map (from link names to scaling) More...
moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model corresponding to this collision model. More...

Additional Inherited Members
Public Types inherited from collision_detection::CollisionEnv
using	ObjectConstPtr = World::ObjectConstPtr
using	ObjectPtr = World::ObjectPtr

Detailed Description

Definition at line 90 of file collision_env_distance_field.h.

Constructor & Destructor Documentation

CollisionEnvDistanceField() [1/3]

collision_detection::CollisionEnvDistanceField::CollisionEnvDistanceField	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions = std::map<std::string, std::vector<CollisionSphere>>(),
		double	size_x = DEFAULT_SIZE_X,
		double	size_y = DEFAULT_SIZE_Y,
		double	size_z = DEFAULT_SIZE_Z,
		const Eigen::Vector3d &	origin = Eigen::Vector3d(0, 0, 0),
		bool	use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
		double	resolution = DEFAULT_RESOLUTION,
		double	collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
		double	max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
		double	padding = 0.0,
		double	scale = 1.0
	)

Definition at line 89 of file collision_env_distance_field.cpp.

CollisionEnvDistanceField() [2/3]

collision_detection::CollisionEnvDistanceField::CollisionEnvDistanceField	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const WorldPtr &	world,
		const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions = std::map<std::string, std::vector<CollisionSphere>>(),
		double	size_x = DEFAULT_SIZE_X,
		double	size_y = DEFAULT_SIZE_Y,
		double	size_z = DEFAULT_SIZE_Z,
		const Eigen::Vector3d &	origin = Eigen::Vector3d(0, 0, 0),
		bool	use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
		double	resolution = DEFAULT_RESOLUTION,
		double	collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
		double	max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
		double	padding = 0.0,
		double	scale = 1.0
	)

Definition at line 108 of file collision_env_distance_field.cpp.

CollisionEnvDistanceField() [3/3]

collision_detection::CollisionEnvDistanceField::CollisionEnvDistanceField	(	const CollisionEnvDistanceField &	other,
		const WorldPtr &	world
	)

Definition at line 127 of file collision_env_distance_field.cpp.

~CollisionEnvDistanceField()

collision_detection::CollisionEnvDistanceField::~CollisionEnvDistanceField ( )

override

Definition at line 150 of file collision_env_distance_field.cpp.

Member Function Documentation

addLinkBodyDecompositions() [1/2]

void collision_detection::CollisionEnvDistanceField::addLinkBodyDecompositions ( double  resolution )

protected

Definition at line 1009 of file collision_env_distance_field.cpp.

addLinkBodyDecompositions() [2/2]

void collision_detection::CollisionEnvDistanceField::addLinkBodyDecompositions ( double  resolution, const std::map< std::string, std::vector< CollisionSphere >> &  link_body_decompositions  )

protected

Definition at line 1097 of file collision_env_distance_field.cpp.

checkCollision() [1/4]

void collision_detection::CollisionEnvDistanceField::checkCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state  ) const

overridevirtual

Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Reimplemented from collision_detection::CollisionEnv.

Definition at line 1433 of file collision_env_distance_field.cpp.

checkCollision() [2/4]

void collision_detection::CollisionEnvDistanceField::checkCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, const AllowedCollisionMatrix &  acm  ) const

overridevirtual

Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Reimplemented from collision_detection::CollisionEnv.

Definition at line 1465 of file collision_env_distance_field.cpp.

checkCollision() [3/4]

void collision_detection::CollisionEnvDistanceField::checkCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, const AllowedCollisionMatrix &  acm, GroupStateRepresentationPtr &  gsr  ) const

virtual

Definition at line 1473 of file collision_env_distance_field.cpp.

checkCollision() [4/4]

void collision_detection::CollisionEnvDistanceField::checkCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, GroupStateRepresentationPtr &  gsr  ) const

virtual

Definition at line 1440 of file collision_env_distance_field.cpp.

checkRobotCollision() [1/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state  ) const

overridevirtual

Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
robot	The collision model for the robot
state	The kinematic state for which checks are being made

Implements collision_detection::CollisionEnv.

Definition at line 1498 of file collision_env_distance_field.cpp.

checkRobotCollision() [2/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, const AllowedCollisionMatrix &  acm  ) const

overridevirtual

Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
robot	The collision model for the robot
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionEnv.

Definition at line 1524 of file collision_env_distance_field.cpp.

checkRobotCollision() [3/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, const AllowedCollisionMatrix &  acm, GroupStateRepresentationPtr &  gsr  ) const

virtual

Definition at line 1532 of file collision_env_distance_field.cpp.

checkRobotCollision() [4/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state, GroupStateRepresentationPtr &  gsr  ) const

virtual

Definition at line 1505 of file collision_env_distance_field.cpp.

checkRobotCollision() [5/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state1, const moveit::core::RobotState &  state2  ) const

overridevirtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made

Implements collision_detection::CollisionEnv.

Definition at line 1561 of file collision_env_distance_field.cpp.

checkRobotCollision() [6/6]

void collision_detection::CollisionEnvDistanceField::checkRobotCollision ( const CollisionRequest &  req, CollisionResult &  res, const moveit::core::RobotState &  state1, const moveit::core::RobotState &  state2, const AllowedCollisionMatrix &  acm  ) const

overridevirtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionEnv.

Definition at line 1553 of file collision_env_distance_field.cpp.

checkSelfCollision() [1/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest &  req, collision_detection::CollisionResult &  res, const moveit::core::RobotState &  state  ) const

overridevirtual

Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Implements collision_detection::CollisionEnv.

Definition at line 270 of file collision_env_distance_field.cpp.

checkSelfCollision() [2/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest &  req, collision_detection::CollisionResult &  res, const moveit::core::RobotState &  state, const collision_detection::AllowedCollisionMatrix &  acm  ) const

overridevirtual

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionEnv.

Definition at line 286 of file collision_env_distance_field.cpp.

checkSelfCollision() [3/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 295 of file collision_env_distance_field.cpp.

checkSelfCollision() [4/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 278 of file collision_env_distance_field.cpp.

checkSelfCollisionHelper()

void collision_detection::CollisionEnvDistanceField::checkSelfCollisionHelper ( const collision_detection::CollisionRequest &  req, collision_detection::CollisionResult &  res, const moveit::core::RobotState &  state, const collision_detection::AllowedCollisionMatrix *  acm, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 214 of file collision_env_distance_field.cpp.

compareCacheEntryToAllowedCollisionMatrix()

bool collision_detection::CollisionEnvDistanceField::compareCacheEntryToAllowedCollisionMatrix ( const DistanceFieldCacheEntryConstPtr &  dfce, const collision_detection::AllowedCollisionMatrix &  acm  ) const

protected

Definition at line 1362 of file collision_env_distance_field.cpp.

compareCacheEntryToState()

bool collision_detection::CollisionEnvDistanceField::compareCacheEntryToState ( const DistanceFieldCacheEntryConstPtr &  dfce, const moveit::core::RobotState &  state  ) const

protected

Definition at line 1302 of file collision_env_distance_field.cpp.

createCollisionModelMarker()

void collision_detection::CollisionEnvDistanceField::createCollisionModelMarker	(	const moveit::core::RobotState &	state,
		visualization_msgs::MarkerArray &	model_markers
	)		const

Definition at line 1029 of file collision_env_distance_field.cpp.

distanceRobot() [1/3]

void collision_detection::CollisionEnvDistanceField::distanceRobot ( const DistanceRequest &  req, DistanceResult &  res, const moveit::core::RobotState &  state  ) const

inlineoverridevirtual

Compute the distance between a robot and the world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
state	The state for the robot to check distances from

Implements collision_detection::CollisionEnv.

Definition at line 226 of file collision_env_distance_field.h.

distanceRobot() [2/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceRobot ( const moveit::core::RobotState &  state, bool  verbose = false  ) const

inlinevirtual

Definition at line 210 of file collision_env_distance_field.h.

distanceRobot() [3/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceRobot ( const moveit::core::RobotState &  state, const AllowedCollisionMatrix &  acm, bool  verbose = false  ) const

inlinevirtual

Definition at line 217 of file collision_env_distance_field.h.

distanceSelf() [1/3]

void collision_detection::CollisionEnvDistanceField::distanceSelf ( const DistanceRequest &  req, DistanceResult &  res, const moveit::core::RobotState &  state  ) const

inlineoverridevirtual

The distance to self-collision given the robot is at state state.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
state	The state of this robot to consider

Implements collision_detection::CollisionEnv.

Definition at line 151 of file collision_env_distance_field.h.

distanceSelf() [2/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceSelf ( const moveit::core::RobotState &  ) const

inlinevirtual

Definition at line 140 of file collision_env_distance_field.h.

distanceSelf() [3/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceSelf ( const moveit::core::RobotState &  , const collision_detection::AllowedCollisionMatrix &    ) const

inlinevirtual

Definition at line 145 of file collision_env_distance_field.h.

generateCollisionCheckingStructures()

void collision_detection::CollisionEnvDistanceField::generateCollisionCheckingStructures ( const std::string &  group_name, const moveit::core::RobotState &  state, const collision_detection::AllowedCollisionMatrix *  acm, GroupStateRepresentationPtr &  gsr, bool  generate_distance_field  ) const

protected

Definition at line 195 of file collision_env_distance_field.cpp.

generateDistanceFieldCacheEntry()

DistanceFieldCacheEntryPtr collision_detection::CollisionEnvDistanceField::generateDistanceFieldCacheEntry ( const std::string &  group_name, const moveit::core::RobotState &  state, const collision_detection::AllowedCollisionMatrix *  acm, bool  generate_distance_field  ) const

protected

Definition at line 760 of file collision_env_distance_field.cpp.

generateDistanceFieldCacheEntryWorld()

CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr collision_detection::CollisionEnvDistanceField::generateDistanceFieldCacheEntryWorld ( )

protected

Definition at line 1833 of file collision_env_distance_field.cpp.

getAllCollisions()

void collision_detection::CollisionEnvDistanceField::getAllCollisions	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 1591 of file collision_env_distance_field.cpp.

getCollisionGradients()

void collision_detection::CollisionEnvDistanceField::getCollisionGradients	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 1568 of file collision_env_distance_field.cpp.

getDistanceField()

distance_field::DistanceFieldConstPtr collision_detection::CollisionEnvDistanceField::getDistanceField ( ) const

inline

Definition at line 234 of file collision_env_distance_field.h.

getDistanceFieldCacheEntry()

DistanceFieldCacheEntryConstPtr collision_detection::CollisionEnvDistanceField::getDistanceFieldCacheEntry ( const std::string &  group_name, const moveit::core::RobotState &  state, const collision_detection::AllowedCollisionMatrix *  acm  ) const

protected

Definition at line 239 of file collision_env_distance_field.cpp.

getEnvironmentCollisions()

bool collision_detection::CollisionEnvDistanceField::getEnvironmentCollisions ( const CollisionRequest &  req, CollisionResult &  res, const distance_field::DistanceFieldConstPtr &  env_distance_field, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 1612 of file collision_env_distance_field.cpp.

getEnvironmentProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getEnvironmentProximityGradients ( const distance_field::DistanceFieldConstPtr &  env_distance_field, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 1696 of file collision_env_distance_field.cpp.

getGroupStateRepresentation()

void collision_detection::CollisionEnvDistanceField::getGroupStateRepresentation ( const DistanceFieldCacheEntryConstPtr &  dfce, const moveit::core::RobotState &  state, GroupStateRepresentationPtr &  gsr  ) const

protected

std::cerr << "Attached " << dfce->attached_body_names_[i] << " index " << dfce->attached_body_link_state_indices_[i] << std::endl;

Definition at line 1204 of file collision_env_distance_field.cpp.

getIntraGroupCollisions()

bool collision_detection::CollisionEnvDistanceField::getIntraGroupCollisions ( const collision_detection::CollisionRequest &  req, collision_detection::CollisionResult &  res, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 465 of file collision_env_distance_field.cpp.

getIntraGroupProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getIntraGroupProximityGradients ( GroupStateRepresentationPtr &  gsr ) const

protected

Definition at line 694 of file collision_env_distance_field.cpp.

getLastDistanceFieldEntry()

DistanceFieldCacheEntryConstPtr collision_detection::CollisionEnvDistanceField::getLastDistanceFieldEntry ( ) const

inline

Definition at line 157 of file collision_env_distance_field.h.

getLastGroupStateRepresentation()

collision_detection::GroupStateRepresentationConstPtr collision_detection::CollisionEnvDistanceField::getLastGroupStateRepresentation ( ) const

inline

Definition at line 239 of file collision_env_distance_field.h.

getPosedLinkBodyPointDecomposition()

PosedBodyPointDecompositionPtr collision_detection::CollisionEnvDistanceField::getPosedLinkBodyPointDecomposition ( const moveit::core::LinkModel *  ls ) const

protected

Definition at line 1137 of file collision_env_distance_field.cpp.

getPosedLinkBodySphereDecomposition()

PosedBodySphereDecompositionPtr collision_detection::CollisionEnvDistanceField::getPosedLinkBodySphereDecomposition ( const moveit::core::LinkModel *  ls, unsigned int  ind  ) const

protected

Definition at line 1128 of file collision_env_distance_field.cpp.

getSelfCollisions()

bool collision_detection::CollisionEnvDistanceField::getSelfCollisions ( const collision_detection::CollisionRequest &  req, collision_detection::CollisionResult &  res, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 309 of file collision_env_distance_field.cpp.

getSelfProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getSelfProximityGradients ( GroupStateRepresentationPtr &  gsr ) const

protected

Definition at line 390 of file collision_env_distance_field.cpp.

initialize()

void collision_detection::CollisionEnvDistanceField::initialize	(	const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions,
		const Eigen::Vector3d &	size,
		const Eigen::Vector3d &	origin,
		bool	use_signed_distance_field,
		double	resolution,
		double	collision_tolerance,
		double	max_propogation_distance
	)

Definition at line 155 of file collision_env_distance_field.cpp.

MOVEIT_STRUCT_FORWARD()

collision_detection::CollisionEnvDistanceField::MOVEIT_STRUCT_FORWARD

(

DistanceFieldCacheEntryWorld

)

notifyObjectChange()

void collision_detection::CollisionEnvDistanceField::notifyObjectChange ( const ObjectConstPtr &  obj, World::Action  action  )

protected

Definition at line 1755 of file collision_env_distance_field.cpp.

setWorld()

void collision_detection::CollisionEnvDistanceField::setWorld ( const WorldPtr &  world )

overridevirtual

set the world to use. This can be expensive unless the new and old world are empty. Passing NULL will result in a new empty world being created.

Reimplemented from collision_detection::CollisionEnv.

Definition at line 1734 of file collision_env_distance_field.cpp.

updateDistanceObject()

void collision_detection::CollisionEnvDistanceField::updateDistanceObject ( const std::string &  id, CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr &  dfce, EigenSTL::vector_Vector3d &  add_points, EigenSTL::vector_Vector3d &  subtract_points  )

protected

Definition at line 1781 of file collision_env_distance_field.cpp.

updatedPaddingOrScaling()

void collision_detection::CollisionEnvDistanceField::updatedPaddingOrScaling ( const std::vector< std::string > &  links )

inlineoverrideprotectedvirtual

When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.

Parameters

links

the names of the links whose padding or scaling were updated

Reimplemented from collision_detection::CollisionEnv.

Definition at line 301 of file collision_env_distance_field.h.

updateGroupStateRepresentationState()

void collision_detection::CollisionEnvDistanceField::updateGroupStateRepresentationState ( const moveit::core::RobotState &  state, GroupStateRepresentationPtr &  gsr  ) const

protected

Definition at line 1150 of file collision_env_distance_field.cpp.

Member Data Documentation

collision_tolerance_

double collision_detection::CollisionEnvDistanceField::collision_tolerance_

protected

Definition at line 321 of file collision_env_distance_field.h.

distance_field_cache_entry_

DistanceFieldCacheEntryPtr collision_detection::CollisionEnvDistanceField::distance_field_cache_entry_

protected

Definition at line 328 of file collision_env_distance_field.h.

distance_field_cache_entry_world_

DistanceFieldCacheEntryWorldPtr collision_detection::CollisionEnvDistanceField::distance_field_cache_entry_world_

protected

Definition at line 335 of file collision_env_distance_field.h.

in_group_update_map_

std::map<std::string, std::map<std::string, bool> > collision_detection::CollisionEnvDistanceField::in_group_update_map_

protected

Definition at line 329 of file collision_env_distance_field.h.

last_gsr_

GroupStateRepresentationPtr collision_detection::CollisionEnvDistanceField::last_gsr_

protected

Definition at line 336 of file collision_env_distance_field.h.

link_body_decomposition_index_map_

std::map<std::string, unsigned int> collision_detection::CollisionEnvDistanceField::link_body_decomposition_index_map_

protected

Definition at line 325 of file collision_env_distance_field.h.

link_body_decomposition_vector_

std::vector<BodyDecompositionConstPtr> collision_detection::CollisionEnvDistanceField::link_body_decomposition_vector_

protected

Definition at line 324 of file collision_env_distance_field.h.

max_propogation_distance_

double collision_detection::CollisionEnvDistanceField::max_propogation_distance_

protected

Definition at line 322 of file collision_env_distance_field.h.

observer_handle_

World::ObserverHandle collision_detection::CollisionEnvDistanceField::observer_handle_

protected

Definition at line 337 of file collision_env_distance_field.h.

origin_

Eigen::Vector3d collision_detection::CollisionEnvDistanceField::origin_

protected

Definition at line 318 of file collision_env_distance_field.h.

planning_scene_

planning_scene::PlanningScenePtr collision_detection::CollisionEnvDistanceField::planning_scene_

protected

Definition at line 332 of file collision_env_distance_field.h.

pregenerated_group_state_representation_map_

std::map<std::string, GroupStateRepresentationPtr> collision_detection::CollisionEnvDistanceField::pregenerated_group_state_representation_map_

protected

Definition at line 330 of file collision_env_distance_field.h.

resolution_

double collision_detection::CollisionEnvDistanceField::resolution_

protected

Definition at line 320 of file collision_env_distance_field.h.

size_

Eigen::Vector3d collision_detection::CollisionEnvDistanceField::size_

protected

Definition at line 317 of file collision_env_distance_field.h.

update_cache_lock_

boost::mutex collision_detection::CollisionEnvDistanceField::update_cache_lock_

mutableprotected

Definition at line 327 of file collision_env_distance_field.h.

update_cache_lock_world_

boost::mutex collision_detection::CollisionEnvDistanceField::update_cache_lock_world_

mutableprotected

Definition at line 334 of file collision_env_distance_field.h.

use_signed_distance_field_

bool collision_detection::CollisionEnvDistanceField::use_signed_distance_field_

protected

Definition at line 319 of file collision_env_distance_field.h.

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

• collision_env_distance_field.h
• collision_env_distance_field.cpp