Namespaces
	AllowedCollision
	Any pair of bodies can have a collision state associated to it.

	BodyTypes
	The types of bodies that are considered for collision.

	DistanceRequestTypes

Classes
class	AllowedCollisionMatrix
	Definition of a structure for the allowed collision matrix. More...

class	BodyDecomposition

struct	BodyDecompositionCache

struct	CollisionData
	Data structure which is passed to the collision callback function of the collision manager. More...

class	CollisionDetectorAllocator
	An allocator for a compatible CollisionWorld/CollisionRobot pair. More...

class	CollisionDetectorAllocatorAllValid
	An allocator for AllValid collision detectors. More...

class	CollisionDetectorAllocatorBullet
	An allocator for Bullet collision detectors. More...

class	CollisionDetectorAllocatorDistanceField
	An allocator for Distance Field collision detectors. More...

class	CollisionDetectorAllocatorFCL
	An allocator for FCL collision detectors. More...

class	CollisionDetectorAllocatorHybrid
	An allocator for Hybrid collision detectors. More...

class	CollisionDetectorAllocatorTemplate
	Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. More...

class	CollisionDetectorBtPluginLoader

class	CollisionDetectorFCLPluginLoader

class	CollisionEnv
	Provides the interface to the individual collision checking libraries. More...

class	CollisionEnvAllValid
	Collision environment which always just returns no collisions. More...

class	CollisionEnvBullet
	More...

class	CollisionEnvDistanceField

class	CollisionEnvFCL
	FCL implementation of the CollisionEnv. More...

class	CollisionEnvHybrid
	This hybrid collision environment combines FCL and a distance field. Both can be used to calculate collisions. More...

struct	CollisionGeometryData
	Wrapper around world, link and attached objects' geometry data. More...

class	CollisionPlugin
	Plugin API for loading a custom collision detection robot/world. More...

class	CollisionPluginCache

struct	CollisionRequest
	Representation of a collision checking request. More...

struct	CollisionResult
	Representation of a collision checking result. More...

struct	CollisionSphere

struct	Contact
	Definition of a contact point. More...

struct	CostSource
	When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...

struct	DistanceData
	Data structure which is passed to the distance callback function of the collision manager. More...

struct	DistanceFieldCacheEntry

struct	DistanceRequest
	Representation of a distance-reporting request. More...

struct	DistanceResult
	Result of a distance request. More...

struct	DistanceResultsData
	Generic representation of the distance information for a pair of objects. More...

struct	FCLGeometry
	Bundles the CollisionGeometryData and FCL collision geometry representation into a single class. More...

struct	FCLManager
	Bundles an FCLObject and a broadphase FCL collision manager. More...

struct	FCLObject
	A general high-level object which consists of multiple FCLCollisionObjects. It is the top level data structure which is used in the collision checking process. More...

struct	FCLShapeCache
	Cache for an arbitrary type of shape. It is assigned during the execution of createCollisionGeometry(). More...

struct	GradientInfo

struct	GroupStateRepresentation

class	OccMapTree

class	PosedBodyPointDecomposition

class	PosedBodyPointDecompositionVector

class	PosedBodySphereDecomposition

class	PosedBodySphereDecompositionVector

class	PosedDistanceField

struct	ProximityInfo

class	World
	Maintain a representation of the environment. More...

class	WorldDiff
	Maintain a diff list of changes that have happened to a World. More...

Typedefs
using	BodyType = BodyTypes::Type
	The types of bodies that are considered for collision. More...

using	DecideContactFn = boost::function< bool(collision_detection::Contact &)>
	Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL) More...

using	DistanceMap = std::map< const std::pair< std::string, std::string >, std::vector< DistanceResultsData > >
	Mapping between the names of the collision objects and the DistanceResultData. More...

using	DistanceRequestType = DistanceRequestTypes::DistanceRequestType

typedef std::shared_ptr< const fcl::CollisionObjectd >	FCLCollisionObjectConstPtr

typedef std::shared_ptr< fcl::CollisionObjectd >	FCLCollisionObjectPtr

typedef octomap::OcTreeNode	OccMapNode

using	OccMapTreeConstPtr = std::shared_ptr< const OccMapTree >

using	OccMapTreePtr = std::shared_ptr< OccMapTree >

Enumerations
enum	CollisionType { NONE = 0, SELF = 1, INTRA = 2, ENVIRONMENT = 3 }

Functions
static bool	andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, Contact &contact)

void	cleanCollisionGeometryCache ()
	Increases the counter of the caches which can trigger the cleaning of expired entries from them. More...

bool	collisionCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data)
	Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information. More...

void	contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg)

void	costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::AttachedBody *ab, int shape_index)
	Create new FCLGeometry object out of attached body. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::LinkModel *link, int shape_index)
	Create new FCLGeometry object out of robot link model. More...

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
	Create new FCLGeometry object out of a world object. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::AttachedBody *ab, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of an attached body. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::LinkModel *link, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of robot link model. More...

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
	Create new scaled and / or padded FCLGeometry object out of an world object. More...

std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Isometry3d &relativeTransform)

bool	distanceCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data, double &min_dist)
	Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances. More...

bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)

void	fcl2contact (const fcl::Contactd &fc, Contact &c)
	Transforms an FCL contact into a MoveIt contact point. More...

void	fcl2costsource (const fcl::CostSourced &fcs, CostSource &cs)
	Transforms the FCL internal representation to the MoveIt CostSource data structure. More...

PosedBodyPointDecompositionVectorPtr	getAttachedBodyPointDecomposition (const moveit::core::AttachedBody *att, double resolution)

PosedBodySphereDecompositionVectorPtr	getAttachedBodySphereDecomposition (const moveit::core::AttachedBody *att, double resolution)

BodyDecompositionCache &	getBodyDecompositionCache ()

BodyDecompositionConstPtr	getBodyDecompositionCacheEntry (const shapes::ShapeConstPtr &shape, double resolution)

void	getBodySphereVisualizationMarkers (const GroupStateRepresentationConstPtr &gsr, const std::string &reference_frame, visualization_msgs::MarkerArray &body_marker_array)

void	getBodySphereVisualizationMarkers (const GroupStateRepresentationPtr &gsr, const std::string &reference_frame, visualization_msgs::MarkerArray &body_marker_array)

void	getCollisionMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr)

void	getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)

void	getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035)

PosedBodyPointDecompositionVectorPtr	getCollisionObjectPointDecomposition (const collision_detection::World::Object &obj, double resolution)

bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance)

bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance, unsigned int num_coll, std::vector< unsigned int > &colls)

bool	getCollisionSphereGradients (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, GradientInfo &gradient, const CollisionType &type, double tolerance, bool subtract_radii, double maximum_value, bool stop_at_first_collision)

void	getCollisionSphereMarkers (const std_msgs::ColorRGBA &color, const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, visualization_msgs::MarkerArray &arr)

void	getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)

void	getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)

void	getProximityGradientMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr)

bool	getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)

template<typename BV , typename T >
FCLShapeCache &	GetShapeCache ()

double	getTotalCost (const std::set< CostSource > &cost_sources)

void	intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)

	MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix)

	MOVEIT_CLASS_FORWARD (BodyDecomposition)

	MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)

	MOVEIT_CLASS_FORWARD (CollisionEnv)

	MOVEIT_CLASS_FORWARD (CollisionEnvDistanceField)

	MOVEIT_CLASS_FORWARD (CollisionPlugin)

	MOVEIT_CLASS_FORWARD (PosedBodyPointDecomposition)

	MOVEIT_CLASS_FORWARD (PosedBodyPointDecompositionVector)

	MOVEIT_CLASS_FORWARD (PosedBodySphereDecomposition)

	MOVEIT_CLASS_FORWARD (PosedBodySphereDecompositionVector)

	MOVEIT_CLASS_FORWARD (PosedDistanceField)

	MOVEIT_CLASS_FORWARD (World)

	MOVEIT_CLASS_FORWARD (WorldDiff)

	MOVEIT_STRUCT_FORWARD (CollisionGeometryData)

	MOVEIT_STRUCT_FORWARD (DistanceFieldCacheEntry)

	MOVEIT_STRUCT_FORWARD (FCLGeometry)

	MOVEIT_STRUCT_FORWARD (GroupStateRepresentation)

int	refineContactNormals (const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5)
	Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point. More...

void	removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)

void	removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)

fcl::Transform3d	transform2fcl (const Eigen::Isometry3d &b)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...

void	transform2fcl (const Eigen::Isometry3d &b, fcl::Transform3d &f)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...

Variables
static const double	DEFAULT_COLLISION_TOLERANCE = 0.0

static const double	DEFAULT_MAX_PROPOGATION_DISTANCE = .25

static const double	DEFAULT_RESOLUTION = .02

static const double	DEFAULT_SIZE_X = 3.0

static const double	DEFAULT_SIZE_Y = 3.0

static const double	DEFAULT_SIZE_Z = 4.0

static const bool	DEFAULT_USE_SIGNED_DISTANCE_FIELD = false

constexpr char	LOGNAME [] = "collision_detection.fcl"

static const std::string	NAME = "FCL"

Typedef Documentation

◆ BodyType

using collision_detection::BodyType = typedef BodyTypes::Type

The types of bodies that are considered for collision.

Definition at line 102 of file include/moveit/collision_detection/collision_common.h.

◆ DecideContactFn

using collision_detection::DecideContactFn = typedef boost::function<bool(collision_detection::Contact&)>

Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)

Definition at line 104 of file collision_matrix.h.

◆ DistanceMap

using collision_detection::DistanceMap = typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> >

Mapping between the names of the collision objects and the DistanceResultData.

Definition at line 354 of file include/moveit/collision_detection/collision_common.h.

◆ DistanceRequestType

using collision_detection::DistanceRequestType = typedef DistanceRequestTypes::DistanceRequestType

Definition at line 238 of file include/moveit/collision_detection/collision_common.h.

◆ FCLCollisionObjectConstPtr

typedef std::shared_ptr<const fcl::CollisionObjectd> collision_detection::FCLCollisionObjectConstPtr

Definition at line 280 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ FCLCollisionObjectPtr

typedef std::shared_ptr<fcl::CollisionObjectd> collision_detection::FCLCollisionObjectPtr

Definition at line 279 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ OccMapNode

typedef octomap::OcTreeNode collision_detection::OccMapNode

Definition at line 79 of file occupancy_map.h.

◆ OccMapTreeConstPtr

using collision_detection::OccMapTreeConstPtr = typedef std::shared_ptr<const OccMapTree>

Definition at line 149 of file occupancy_map.h.

◆ OccMapTreePtr

using collision_detection::OccMapTreePtr = typedef std::shared_ptr<OccMapTree>

Definition at line 148 of file occupancy_map.h.

Enumeration Type Documentation

◆ CollisionType

enum collision_detection::CollisionType

Enumerator
NONE
SELF
INTRA
ENVIRONMENT

Definition at line 89 of file collision_distance_field_types.h.

Function Documentation

◆ andDecideContact()

static bool collision_detection::andDecideContact	(	const DecideContactFn &	f1,
		const DecideContactFn &	f2,
		Contact &	contact
	)

static

Definition at line 307 of file collision_matrix.cpp.

◆ cleanCollisionGeometryCache()

void collision_detection::cleanCollisionGeometryCache ( )

Increases the counter of the caches which can trigger the cleaning of expired entries from them.

Definition at line 958 of file fcl/src/collision_common.cpp.

◆ collisionCallback()

bool collision_detection::collisionCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information.

Parameters

o1	First FCL collision object
o2	Second FCL collision object
data	General pointer to arbitrary data which is used during the callback

Returns: True terminates the collision check, false continues it to the next pair of objects

Definition at line 88 of file fcl/src/collision_common.cpp.

◆ contactToMsg()

void collision_detection::contactToMsg	(	const Contact &	contact,
		moveit_msgs::ContactInformation &	msg
	)

Definition at line 304 of file collision_tools.cpp.

◆ costSourceToMsg()

void collision_detection::costSourceToMsg	(	const CostSource &	cost_source,
		moveit_msgs::CostSource &	msg
	)

Definition at line 293 of file collision_tools.cpp.

◆ createCollisionGeometry() [1/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const moveit::core::AttachedBody *	ab,
		int	shape_index
	)

Create new FCLGeometry object out of attached body.

Definition at line 912 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [2/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const moveit::core::LinkModel *	link,
		int	shape_index
	)

Create new FCLGeometry object out of robot link model.

Definition at line 906 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [3/8]

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const T *	data,
		int	shape_index
	)

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV).

It assigns a thread-local cache for each type of shape and minimizes memory usage and copying through utilizing the cache.

Definition at line 727 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [4/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const World::Object *	obj
	)

Create new FCLGeometry object out of a world object.

A world object always consists only of a single shape, therefore we don't need the shape_index.

Definition at line 918 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [5/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const moveit::core::AttachedBody *	ab,
		int	shape_index
	)

Create new scaled and / or padded FCLGeometry object out of an attached body.

Definition at line 946 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [6/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const moveit::core::LinkModel *	link,
		int	shape_index
	)

Create new scaled and / or padded FCLGeometry object out of robot link model.

Definition at line 940 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [7/8]

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const T *	data,
		int	shape_index
	)

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling.

Definition at line 926 of file fcl/src/collision_common.cpp.

◆ createCollisionGeometry() [8/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const World::Object *	obj
	)

Create new scaled and / or padded FCLGeometry object out of an world object.

Definition at line 952 of file fcl/src/collision_common.cpp.

◆ determineCollisionSpheres()

std::vector< collision_detection::CollisionSphere > collision_detection::determineCollisionSpheres	(	const bodies::Body *	body,
		Eigen::Isometry3d &	relativeTransform
	)

Definition at line 47 of file collision_distance_field_types.cpp.

◆ distanceCallback()

bool collision_detection::distanceCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data,
		double &	min_dist
	)

Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances.

Parameters

o1	First FCL collision object
o2	Second FCL collision object
data	General pointer to arbitrary data which is used during the callback

Returns: True terminates the distance check, false continues it to the next pair of objects

Definition at line 443 of file fcl/src/collision_common.cpp.

◆ doBoundingSpheresIntersect()

bool collision_detection::doBoundingSpheresIntersect	(	const PosedBodySphereDecompositionConstPtr &	p1,
		const PosedBodySphereDecompositionConstPtr &	p2
	)

Definition at line 410 of file collision_distance_field_types.cpp.

◆ fcl2contact()

void collision_detection::fcl2contact	(	const fcl::Contactd &	fc,
		Contact &	c
	)

inline

Transforms an FCL contact into a MoveIt contact point.

Definition at line 371 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ fcl2costsource()

void collision_detection::fcl2costsource	(	const fcl::CostSourced &	fcs,
		CostSource &	cs
	)

inline

Transforms the FCL internal representation to the MoveIt CostSource data structure.

Definition at line 385 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ getAttachedBodyPointDecomposition()

PosedBodyPointDecompositionVectorPtr collision_detection::getAttachedBodyPointDecomposition	(	const moveit::core::AttachedBody *	att,
		double	resolution
	)

Definition at line 149 of file collision_common_distance_field.cpp.

◆ getAttachedBodySphereDecomposition()

PosedBodySphereDecompositionVectorPtr collision_detection::getAttachedBodySphereDecomposition	(	const moveit::core::AttachedBody *	att,
		double	resolution
	)

Definition at line 135 of file collision_common_distance_field.cpp.

◆ getBodyDecompositionCache()

BodyDecompositionCache& collision_detection::getBodyDecompositionCache ( )

Definition at line 91 of file collision_common_distance_field.cpp.

◆ getBodyDecompositionCacheEntry()

BodyDecompositionConstPtr collision_detection::getBodyDecompositionCacheEntry	(	const shapes::ShapeConstPtr &	shape,
		double	resolution
	)

Definition at line 97 of file collision_common_distance_field.cpp.

◆ getBodySphereVisualizationMarkers() [1/2]

void collision_detection::getBodySphereVisualizationMarkers	(	const GroupStateRepresentationConstPtr &	gsr,
		const std::string &	reference_frame,
		visualization_msgs::MarkerArray &	body_marker_array
	)

Definition at line 163 of file collision_common_distance_field.cpp.

◆ getBodySphereVisualizationMarkers() [2/2]

void collision_detection::getBodySphereVisualizationMarkers	(	const GroupStateRepresentationPtr &	gsr,
		const std::string &	reference_frame,
		visualization_msgs::MarkerArray &	body_marker_array
	)

◆ getCollisionMarkers()

void collision_detection::getCollisionMarkers	(	const std::string &	frame_id,
		const std::string &	ns,
		const ros::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		const std::vector< PosedBodySphereDecompositionVectorPtr > &	posed_vector_decompositions,
		const std::vector< GradientInfo > &	gradients,
		visualization_msgs::MarkerArray &	arr
	)

Definition at line 554 of file collision_distance_field_types.cpp.

◆ getCollisionMarkersFromContacts() [1/2]

void collision_detection::getCollisionMarkersFromContacts	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		const CollisionResult::ContactMap &	con
	)

Definition at line 85 of file collision_tools.cpp.

◆ getCollisionMarkersFromContacts() [2/2]

void collision_detection::getCollisionMarkersFromContacts	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		const CollisionResult::ContactMap &	con,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime,
		const double	radius = `0.035`
	)

Definition at line 127 of file collision_tools.cpp.

◆ getCollisionObjectPointDecomposition()

PosedBodyPointDecompositionVectorPtr collision_detection::getCollisionObjectPointDecomposition	(	const collision_detection::World::Object &	obj,
		double	resolution
	)

Definition at line 121 of file collision_common_distance_field.cpp.

◆ getCollisionSphereCollision() [1/2]

bool collision_detection::getCollisionSphereCollision	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		double	maximum_value,
		double	tolerance
	)

Definition at line 206 of file collision_distance_field_types.cpp.

◆ getCollisionSphereCollision() [2/2]

bool collision_detection::getCollisionSphereCollision	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		double	maximum_value,
		double	tolerance,
		unsigned int	num_coll,
		std::vector< unsigned int > &	colls
	)

Definition at line 233 of file collision_distance_field_types.cpp.

◆ getCollisionSphereGradients()

bool collision_detection::getCollisionSphereGradients	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		GradientInfo &	gradient,
		const CollisionType &	type,
		double	tolerance,
		bool	subtract_radii,
		double	maximum_value,
		bool	stop_at_first_collision
	)

Definition at line 143 of file collision_distance_field_types.cpp.

◆ getCollisionSphereMarkers()

void collision_detection::getCollisionSphereMarkers	(	const std_msgs::ColorRGBA &	color,
		const std::string &	frame_id,
		const std::string &	ns,
		const ros::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		visualization_msgs::MarkerArray &	arr
	)

Definition at line 422 of file collision_distance_field_types.cpp.

◆ getCostMarkers() [1/2]

void collision_detection::getCostMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources
	)

Todo:: add a class for managing cost sources

Definition at line 74 of file collision_tools.cpp.

◆ getCostMarkers() [2/2]

void collision_detection::getCostMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime
	)

Definition at line 96 of file collision_tools.cpp.

◆ getProximityGradientMarkers()

void collision_detection::getProximityGradientMarkers	(	const std::string &	frame_id,
		const std::string &	ns,
		const ros::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		const std::vector< PosedBodySphereDecompositionVectorPtr > &	posed_vector_decompositions,
		const std::vector< GradientInfo > &	gradients,
		visualization_msgs::MarkerArray &	arr
	)

Definition at line 451 of file collision_distance_field_types.cpp.

◆ getSensorPositioning()

bool collision_detection::getSensorPositioning	(	geometry_msgs::Point &	point,
		const std::set< CostSource > &	cost_sources
	)

Definition at line 166 of file collision_tools.cpp.

◆ GetShapeCache()

template<typename BV , typename T >

FCLShapeCache& collision_detection::GetShapeCache ( )

Definition at line 706 of file fcl/src/collision_common.cpp.

◆ getTotalCost()

double collision_detection::getTotalCost ( const std::set< CostSource > & cost_sources )

Definition at line 179 of file collision_tools.cpp.

◆ intersectCostSources()

void collision_detection::intersectCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	a,
		const std::set< CostSource > &	b
	)

Definition at line 187 of file collision_tools.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/13]

collision_detection::MOVEIT_CLASS_FORWARD ( AllowedCollisionMatrix )

◆ MOVEIT_CLASS_FORWARD() [2/13]

collision_detection::MOVEIT_CLASS_FORWARD ( BodyDecomposition )

◆ MOVEIT_CLASS_FORWARD() [3/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionDetectorAllocator )

◆ MOVEIT_CLASS_FORWARD() [4/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnv )

◆ MOVEIT_CLASS_FORWARD() [5/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnvDistanceField )

◆ MOVEIT_CLASS_FORWARD() [6/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionPlugin )

◆ MOVEIT_CLASS_FORWARD() [7/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodyPointDecomposition )

◆ MOVEIT_CLASS_FORWARD() [8/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodyPointDecompositionVector )

◆ MOVEIT_CLASS_FORWARD() [9/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodySphereDecomposition )

◆ MOVEIT_CLASS_FORWARD() [10/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodySphereDecompositionVector )

◆ MOVEIT_CLASS_FORWARD() [11/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedDistanceField )

◆ MOVEIT_CLASS_FORWARD() [12/13]

collision_detection::MOVEIT_CLASS_FORWARD ( World )

◆ MOVEIT_CLASS_FORWARD() [13/13]

collision_detection::MOVEIT_CLASS_FORWARD ( WorldDiff )

◆ MOVEIT_STRUCT_FORWARD() [1/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( CollisionGeometryData )

◆ MOVEIT_STRUCT_FORWARD() [2/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( DistanceFieldCacheEntry )

◆ MOVEIT_STRUCT_FORWARD() [3/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( FCLGeometry )

◆ MOVEIT_STRUCT_FORWARD() [4/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( GroupStateRepresentation )

◆ refineContactNormals()

int collision_detection::refineContactNormals	(	const World::ObjectConstPtr &	object,
		CollisionResult &	res,
		double	cell_bbx_search_distance = `1.0`,
		double	allowed_angle_divergence = `0.0`,
		bool	estimate_depth = `false`,
		double	iso_value = `0.5`,
		double	metaball_radius_multiple = `1.5`
	)

Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point.

This is an implementation of the algorithm described in: A. Leeper, S. Chan, K. Salisbury. Point Clouds Can Be Represented as Implicit Surfaces for Constraint-Based Haptic Rendering. ICRA, May 2012, St Paul, MN. http://adamleeper.com/research/papers/2012_ICRA_leeper-chan-salisbury.pdf

Parameters

object	The octomap originally used for collision detection.
res	The collision result (which will get its normals updated)
cell_bbx_search_distance	The distance, as a multiple of the octomap cell size, from which to include neighboring cells.
allowed_angle_divergence	The minimum angle change required for a normal to be over-written
estimate_depth	Whether to request a depth estimate from the algorithm (experimental...)
iso_value	The iso-surface threshold value (0.5 is a reasonable default).
metaball_radius_multiple	The metaball radius, as a multiple of the octomap cell size (1.5 is a reasonable default)

Definition at line 60 of file collision_octomap_filter.cpp.

◆ removeCostSources()

void collision_detection::removeCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	cost_sources_to_remove,
		double	overlap_fraction
	)

Definition at line 240 of file collision_tools.cpp.

◆ removeOverlapping()

void collision_detection::removeOverlapping	(	std::set< CostSource > &	cost_sources,
		double	overlap_fraction
	)

Definition at line 210 of file collision_tools.cpp.

◆ transform2fcl() [1/2]

fcl::Transform3d collision_detection::transform2fcl ( const Eigen::Isometry3d & b )

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 363 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ transform2fcl() [2/2]

void collision_detection::transform2fcl	(	const Eigen::Isometry3d &	b,
		fcl::Transform3d &	f
	)

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 350 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Variable Documentation

◆ DEFAULT_COLLISION_TOLERANCE

const double collision_detection::DEFAULT_COLLISION_TOLERANCE = 0.0

static

Definition at line 85 of file collision_env_distance_field.h.

◆ DEFAULT_MAX_PROPOGATION_DISTANCE

const double collision_detection::DEFAULT_MAX_PROPOGATION_DISTANCE = .25

static

Definition at line 86 of file collision_env_distance_field.h.

◆ DEFAULT_RESOLUTION

const double collision_detection::DEFAULT_RESOLUTION = .02

static

Definition at line 84 of file collision_env_distance_field.h.

◆ DEFAULT_SIZE_X

const double collision_detection::DEFAULT_SIZE_X = 3.0

static

Definition at line 80 of file collision_env_distance_field.h.

◆ DEFAULT_SIZE_Y

const double collision_detection::DEFAULT_SIZE_Y = 3.0

static

Definition at line 81 of file collision_env_distance_field.h.

◆ DEFAULT_SIZE_Z

const double collision_detection::DEFAULT_SIZE_Z = 4.0

static

Definition at line 82 of file collision_env_distance_field.h.

◆ DEFAULT_USE_SIGNED_DISTANCE_FIELD

const bool collision_detection::DEFAULT_USE_SIGNED_DISTANCE_FIELD = false

static

Definition at line 83 of file collision_env_distance_field.h.

◆ LOGNAME

constexpr char collision_detection::LOGNAME[] = "collision_detection.fcl"

constexpr

Definition at line 82 of file collision_env_fcl.cpp.

◆ NAME

const std::string collision_detection::NAME = "FCL"

static

Definition at line 81 of file collision_env_fcl.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ BodyType

◆ DecideContactFn

◆ DistanceMap

◆ DistanceRequestType

◆ FCLCollisionObjectConstPtr

◆ FCLCollisionObjectPtr

◆ OccMapNode

◆ OccMapTreeConstPtr

◆ OccMapTreePtr

Enumeration Type Documentation

◆ CollisionType

Function Documentation

◆ andDecideContact()

◆ cleanCollisionGeometryCache()

◆ collisionCallback()

◆ contactToMsg()

◆ costSourceToMsg()

◆ createCollisionGeometry() [1/8]

◆ createCollisionGeometry() [2/8]

◆ createCollisionGeometry() [3/8]

◆ createCollisionGeometry() [4/8]

◆ createCollisionGeometry() [5/8]

◆ createCollisionGeometry() [6/8]

◆ createCollisionGeometry() [7/8]

◆ createCollisionGeometry() [8/8]

◆ determineCollisionSpheres()

◆ distanceCallback()

◆ doBoundingSpheresIntersect()

◆ fcl2contact()

◆ fcl2costsource()

◆ getAttachedBodyPointDecomposition()

◆ getAttachedBodySphereDecomposition()

◆ getBodyDecompositionCache()

◆ getBodyDecompositionCacheEntry()

◆ getBodySphereVisualizationMarkers() [1/2]

◆ getBodySphereVisualizationMarkers() [2/2]

◆ getCollisionMarkers()

◆ getCollisionMarkersFromContacts() [1/2]

◆ getCollisionMarkersFromContacts() [2/2]

◆ getCollisionObjectPointDecomposition()

◆ getCollisionSphereCollision() [1/2]

◆ getCollisionSphereCollision() [2/2]

◆ getCollisionSphereGradients()

◆ getCollisionSphereMarkers()

◆ getCostMarkers() [1/2]

◆ getCostMarkers() [2/2]

◆ getProximityGradientMarkers()

◆ getSensorPositioning()

◆ GetShapeCache()

◆ getTotalCost()

◆ intersectCostSources()

◆ MOVEIT_CLASS_FORWARD() [1/13]

◆ MOVEIT_CLASS_FORWARD() [2/13]

◆ MOVEIT_CLASS_FORWARD() [3/13]

◆ MOVEIT_CLASS_FORWARD() [4/13]

◆ MOVEIT_CLASS_FORWARD() [5/13]

◆ MOVEIT_CLASS_FORWARD() [6/13]

◆ MOVEIT_CLASS_FORWARD() [7/13]

◆ MOVEIT_CLASS_FORWARD() [8/13]

◆ MOVEIT_CLASS_FORWARD() [9/13]

◆ MOVEIT_CLASS_FORWARD() [10/13]

◆ MOVEIT_CLASS_FORWARD() [11/13]

◆ MOVEIT_CLASS_FORWARD() [12/13]

◆ MOVEIT_CLASS_FORWARD() [13/13]

◆ MOVEIT_STRUCT_FORWARD() [1/4]

◆ MOVEIT_STRUCT_FORWARD() [2/4]

◆ MOVEIT_STRUCT_FORWARD() [3/4]

◆ MOVEIT_STRUCT_FORWARD() [4/4]

◆ refineContactNormals()

◆ removeCostSources()

◆ removeOverlapping()

◆ transform2fcl() [1/2]

◆ transform2fcl() [2/2]