collision_detection Namespace Reference

Namespaces
	AllowedCollision
	BodyTypes
	DistanceRequestTypes
	World

Classes
class	AllowedCollisionMatrix
class	BodyDecomposition
struct	BodyDecompositionCache
struct	CollisionData
class	CollisionDetectorAllocator
class	CollisionDetectorAllocatorAllValid
class	CollisionDetectorAllocatorBullet
class	CollisionDetectorAllocatorDistanceField
class	CollisionDetectorAllocatorFCL
class	CollisionDetectorAllocatorHybrid
class	CollisionDetectorAllocatorTemplate
class	CollisionDetectorBtPluginLoader
class	CollisionDetectorFCLPluginLoader
class	CollisionEnv
class	CollisionEnvAllValid
class	CollisionEnvBullet
class	CollisionEnvDistanceField
class	CollisionEnvFCL
class	CollisionEnvHybrid
struct	CollisionGeometryData
class	CollisionPlugin
class	CollisionPluginCache
class	CollisionPluginLoader
struct	CollisionRequest
struct	CollisionResult
struct	CollisionSphere
struct	Contact
struct	CostSource
struct	DistanceData
struct	DistanceFieldCacheEntry
struct	DistanceRequest
struct	DistanceResult
struct	DistanceResultsData
struct	FCLGeometry
struct	FCLManager
struct	FCLObject
struct	FCLShapeCache
struct	GradientInfo
struct	GroupStateRepresentation
class	OccMapTree
class	PosedBodyPointDecomposition
class	PosedBodyPointDecompositionVector
class	PosedBodySphereDecomposition
class	PosedBodySphereDecompositionVector
class	PosedDistanceField
struct	ProximityInfo
class	World
class	WorldDiff

Typedefs
typedef BodyTypes::Type	BodyType
typedef boost::function< bool(collision_detection::Contact &)>	DecideContactFn
typedef std::map< const std::pair< std::string, std::string >, std::vector< DistanceResultsData > >	DistanceMap
typedef DistanceRequestTypes::DistanceRequestType	DistanceRequestType
typedef std::shared_ptr< const fcl::CollisionObjectd >	FCLCollisionObjectConstPtr
typedef std::shared_ptr< fcl::CollisionObjectd >	FCLCollisionObjectPtr
typedef octomap::OcTreeNode	OccMapNode
typedef std::shared_ptr< const OccMapTree >	OccMapTreeConstPtr
typedef std::shared_ptr< OccMapTree >	OccMapTreePtr

Enumerations
enum	CollisionType

Functions
static bool	andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, Contact &contact)
void	cleanCollisionGeometryCache ()
bool	collisionCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
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)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::LinkModel *link, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::AttachedBody *ab, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::LinkModel *link, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Isometry3d &relativeTransform)
bool	distanceCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data, double &min_dist)
bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)
void	fcl2contact (const fcl::Contactd &fc, Contact &c)
void	fcl2costsource (const fcl::CostSourced &fcs, CostSource &cs)
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)
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)
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)
void	transform2fcl (const Eigen::Isometry3d &b, fcl::Transform3d &f)

Variables
static const double	DEFAULT_COLLISION_TOLERANCE
static const double	DEFAULT_MAX_PROPOGATION_DISTANCE
static const double	DEFAULT_RESOLUTION
static const double	DEFAULT_SIZE_X
static const double	DEFAULT_SIZE_Y
static const double	DEFAULT_SIZE_Z
static const bool	DEFAULT_USE_SIGNED_DISTANCE_FIELD
	ENVIRONMENT
	INTRA
constexpr char	LOGNAME []
static const std::string	NAME
	NONE
	SELF