Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
collision_detection Namespace Reference

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. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not. 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...
 
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
 
struct  IfSameType
 
struct  IfSameType< T, T >
 
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::CollisionObjectdFCLCollisionObjectConstPtr
 
typedef std::shared_ptr< fcl::CollisionObjectdFCLCollisionObjectPtr
 

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< CollisionSpheredetermineCollisionSpheres (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)
 
BodyDecompositionCachegetBodyDecompositionCache ()
 
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 >
FCLShapeCacheGetShapeCache ()
 
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 (World)
 
 MOVEIT_CLASS_FORWARD (WorldDiff)
 
 MOVEIT_STRUCT_FORWARD (CollisionGeometryData)
 
 MOVEIT_STRUCT_FORWARD (FCLGeometry)
 
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
 
const double EPSILON = 0.001f
 
const double MAX_DISTANCE_MARGIN = 99
 

Typedef Documentation

◆ BodyType

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 391 of file include/moveit/collision_detection/collision_common.h.

◆ DistanceRequestType

◆ FCLCollisionObjectConstPtr

◆ FCLCollisionObjectPtr

Enumeration Type Documentation

◆ 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 282 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 951 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
o1First FCL collision object
o2Second 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 87 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 905 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 899 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 720 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 911 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 939 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 933 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 919 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 945 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
o1First FCL collision object
o2Second 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 442 of file fcl/src/collision_common.cpp.

◆ doBoundingSpheresIntersect()

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

Definition at line 396 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 540 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 192 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 219 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 129 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 408 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 437 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 681 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() [1/8]

collision_detection::MOVEIT_CLASS_FORWARD ( AllowedCollisionMatrix  )

◆ MOVEIT_CLASS_FORWARD() [2/8]

collision_detection::MOVEIT_CLASS_FORWARD ( BodyDecomposition  )

◆ MOVEIT_CLASS_FORWARD() [3/8]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionDetectorAllocator  )

◆ MOVEIT_CLASS_FORWARD() [4/8]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnv  )

◆ MOVEIT_CLASS_FORWARD() [5/8]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnvDistanceField  )

◆ MOVEIT_CLASS_FORWARD() [6/8]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionPlugin  )

◆ MOVEIT_CLASS_FORWARD() [7/8]

collision_detection::MOVEIT_CLASS_FORWARD ( World  )

◆ MOVEIT_CLASS_FORWARD() [8/8]

collision_detection::MOVEIT_CLASS_FORWARD ( WorldDiff  )

◆ MOVEIT_STRUCT_FORWARD() [1/2]

collision_detection::MOVEIT_STRUCT_FORWARD ( CollisionGeometryData  )

◆ MOVEIT_STRUCT_FORWARD() [2/2]

collision_detection::MOVEIT_STRUCT_FORWARD ( FCLGeometry  )

◆ 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
Theoctomap originally used for collision detection.
Thecollision result (which will get its normals updated)
Thedistance, as a multiple of the octomap cell size, from which to include neighboring cells.
Theminimum angle change required for a normal to be over-written
Whetherto request a depth estimate from the algorithm (experimental...)
Theiso-surface threshold value (0.5 is a reasonable default).
Themetaball 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.

◆ EPSILON

const double collision_detection::EPSILON = 0.001f

Definition at line 83 of file collision_env_distance_field.cpp.

◆ MAX_DISTANCE_MARGIN

const double collision_detection::MAX_DISTANCE_MARGIN = 99

Definition at line 79 of file collision_env_bullet.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Nov 24 2020 03:26:41