collision_space_ccd::EnvironmentModelBVH< BV > Class Template Reference

A class describing an environment for a kinematic robot using ODE. More...

#include <environmentBVH.h>

Inheritance diagram for collision_space_ccd::EnvironmentModelBVH< BV >:

Classes
struct	AttGeom
	Geometry for attachment. More...
struct	CollisionData
struct	CollisionNamespace
struct	LinkGeom
	Geometry for Link. More...
struct	ModelInfo
class	SAPManager
Public Member Functions
virtual void	addObject (const std::string &ns, shapes::Shape *shape, const btTransform &pose)
	Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObject (const std::string &ns, shapes::StaticShape *shape)
	Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObjects (const std::string &ns, const std::vector< shapes::Shape * > &shapes, const std::vector< btTransform > &poses)
	Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.
virtual void	clearObjects (const std::string &ns)
	Remove objects from a specific namespace in the collision model.
virtual void	clearObjects (void)
	Remove all objects from collision model.
virtual EnvironmentModel *	clone (void) const
	Clone the environment.
	EnvironmentModelBVH (void)
virtual bool	getAllCollisionContacts (const std::vector< AllowedContact > &allowedContacts, std::vector< Contact > &contacts, unsigned int num_per_contact=1) const
	This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.
virtual void	getAttachedBodyPoses (std::map< std::string, std::vector< btTransform > > &pose_map) const
virtual bool	getCollisionContacts (const std::vector< AllowedContact > &allowedContacts, std::vector< Contact > &contacts, unsigned int max_count=1) const
	Get the list of contacts (collisions).
virtual bool	hasObject (const std::string &ns) const
	Tells whether or not there is an object with the given name in the collision model.
virtual bool	isCollision (void) const
	Check if a model is in collision.
virtual bool	isEnvironmentCollision (void) const
	Check if a model is in environment collision.
virtual bool	isSelfCollision (void) const
	Check if a model is in self collision.
virtual void	revertAlteredLinkPadding ()
virtual void	setAlteredLinkPadding (const std::map< std::string, double > &link_padding_map)
virtual void	setRobotModel (const planning_models::KinematicModel *model, const AllowedCollisionMatrix &allowed_collision_matrix, const std::map< std::string, double > &link_padding_map, double default_padding=0.0, double scale=1.0)
	Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.
virtual void	updateAttachedBodies (const std::map< std::string, double > &link_padding_map)
	Update the set of bodies that are attached to the robot (re-creates them) using the indicated padding or default if non-specified.
virtual void	updateAttachedBodies (void)
	Update the set of bodies that are attached to the robot (re-creates them).
virtual void	updateRobotModel (const planning_models::KinematicState *state)
	Update the positions of the geometry used in collision detection.
virtual	~EnvironmentModelBVH (void)
Protected Member Functions
void	addAttachedBody (LinkGeom lg, const planning_models::KinematicModel::AttachedBodyModel attm, double padd)
CollisionGeom *	copyGeom (CollisionGeom *geom) const
CollisionGeom *	createBVHGeom (const shapes::StaticShape *shape)
CollisionGeom *	createBVHGeom (const shapes::Shape *shape, double scale, double padding)
void	createBVHRobotModel ()
void	freeMemory (void)
void	revertAttachedBodiesLinkPadding ()
void	setAttachedBodiesLinkPadding ()
void	testCollision (CollisionData *data) const
	Internal function for collision detection.
void	testEnvironmentCollision (CollisionData *data) const
	Internal function for collision detection.
void	testObjectCollision (CollisionNamespace cn, CollisionData data) const
	Internal function for collision detection.
void	testSelfCollision (CollisionData *data) const
	Internal function for collision detection.
void	updateGeom (CollisionGeom *geom, const btTransform &pose) const
Static Protected Member Functions
static void	testGeomCollision (CollisionData data, CollisionGeom o1, CollisionGeom *o2)
Protected Attributes
std::map< std::string, bool >	attached_bodies_in_collision_matrix_
std::map< std::string, CollisionNamespace * >	coll_namespaces_
std::map< CollisionGeom *, std::pair< std::string, BodyType > >	geom_lookup_map_
ModelInfo	model_geom_
bool	previous_set_robot_model_
SAPManager	self_geom_manager

Detailed Description

template<typename BV>
class collision_space_ccd::EnvironmentModelBVH< BV >

A class describing an environment for a kinematic robot using ODE.

Definition at line 54 of file environmentBVH.h.

Constructor & Destructor Documentation

template<typename BV >

collision_space_ccd::EnvironmentModelBVH< BV >::EnvironmentModelBVH ( void ) [inline]

Definition at line 49 of file environmentBVH.cpp.

template<typename BV >

collision_space_ccd::EnvironmentModelBVH< BV >::~EnvironmentModelBVH ( void ) [inline, virtual]

Definition at line 55 of file environmentBVH.cpp.

Member Function Documentation

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::addAttachedBody	(	LinkGeom *	lg,
		const planning_models::KinematicModel::AttachedBodyModel *	attm,
		double	padd
	)			`[inline, protected]`

Definition at line 330 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::addObject	(	const std::string &	ns,
		shapes::Shape *	shape,
		const btTransform &	pose
	)			`[inline, virtual]`

Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 946 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::addObject	(	const std::string &	ns,
		shapes::StaticShape *	shape
	)			`[inline, virtual]`

Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 970 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::addObjects	(	const std::string &	ns,
		const std::vector< shapes::Shape * > &	shapes,
		const std::vector< btTransform > &	poses
	)			`[inline, virtual]`

Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 914 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::clearObjects ( const std::string & ns ) [inline, virtual]

Remove objects from a specific namespace in the collision model.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 1002 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::clearObjects ( void ) [inline, virtual]

Remove all objects from collision model.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 990 of file environmentBVH.cpp.

template<typename BV >

EnvironmentModel * collision_space_ccd::EnvironmentModelBVH< BV >::clone ( void ) const [inline, virtual]

Clone the environment.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 1022 of file environmentBVH.cpp.

template<typename BV >

CollisionGeom * collision_space_ccd::EnvironmentModelBVH< BV >::copyGeom ( CollisionGeom * geom ) const [inline, protected]

Definition at line 1015 of file environmentBVH.cpp.

template<typename BV >

CollisionGeom * collision_space_ccd::EnvironmentModelBVH< BV >::createBVHGeom ( const shapes::StaticShape * shape ) [inline, protected]

Definition at line 169 of file environmentBVH.cpp.

template<typename BV >

CollisionGeom * collision_space_ccd::EnvironmentModelBVH< BV >::createBVHGeom	(	const shapes::Shape *	shape,
		double	scale,
		double	padding
	)			`[inline, protected]`

Definition at line 187 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::createBVHRobotModel ( ) [inline, protected]

Definition at line 119 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::freeMemory ( void ) [inline, protected]

Definition at line 61 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::getAllCollisionContacts	(	const std::vector< AllowedContact > &	allowedContacts,
		std::vector< Contact > &	contacts,
		unsigned int	num_per_contact = `1`
	)			const `[inline, virtual]`

This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 563 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::getAttachedBodyPoses ( std::map< std::string, std::vector< btTransform > > & pose_map ) const [inline, virtual]

Implements collision_space_ccd::EnvironmentModel.

Definition at line 94 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::getCollisionContacts	(	const std::vector< AllowedContact > &	allowedContacts,
		std::vector< Contact > &	contacts,
		unsigned int	max_count = `1`
	)			const `[inline, virtual]`

Get the list of contacts (collisions).

Implements collision_space_ccd::EnvironmentModel.

Definition at line 547 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::hasObject ( const std::string & ns ) const [inline, virtual]

Tells whether or not there is an object with the given name in the collision model.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 904 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::isCollision ( void ) const [inline, virtual]

Check if a model is in collision.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 581 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::isEnvironmentCollision ( void ) const [inline, virtual]

Check if a model is in environment collision.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 601 of file environmentBVH.cpp.

template<typename BV >

bool collision_space_ccd::EnvironmentModelBVH< BV >::isSelfCollision ( void ) const [inline, virtual]

Check if a model is in self collision.

Implements collision_space_ccd::EnvironmentModel.

Definition at line 591 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::revertAlteredLinkPadding ( ) [inline, virtual]

Reverts link padding to that set at robot initialization

Reimplemented from collision_space_ccd::EnvironmentModel.

Definition at line 510 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::revertAttachedBodiesLinkPadding ( ) [inline, protected]

Definition at line 405 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::setAlteredLinkPadding ( const std::map< std::string, double > & link_padding_map ) [inline, virtual]

Sets a temporary robot padding on the indicated links

Reimplemented from collision_space_ccd::EnvironmentModel.

Definition at line 470 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::setAttachedBodiesLinkPadding ( ) [inline, protected]

Definition at line 370 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::setRobotModel	(	const planning_models::KinematicModel *	model,
		const AllowedCollisionMatrix &	allowed_collision_matrix,
		const std::map< std::string, double > &	link_padding_map,
		double	default_padding = `0.0`,
		double	scale = `1.0`
	)			`[inline, virtual]`

Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.

Reimplemented from collision_space_ccd::EnvironmentModel.

Definition at line 73 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::testCollision ( CollisionData * data ) const [inline, protected]

Internal function for collision detection.

Definition at line 879 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::testEnvironmentCollision ( CollisionData * data ) const [inline, protected]

Internal function for collision detection.

Definition at line 894 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::testGeomCollision	(	CollisionData *	data,
		CollisionGeom *	o1,
		CollisionGeom *	o2
	)			`[inline, static, protected]`

Definition at line 727 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::testObjectCollision	(	CollisionNamespace *	cn,
		CollisionData *	data
	)			const `[inline, protected]`

Internal function for collision detection.

Definition at line 611 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::testSelfCollision ( CollisionData * data ) const [inline, protected]

Internal function for collision detection.

Definition at line 886 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::updateAttachedBodies ( const std::map< std::string, double > & link_padding_map ) [inline, virtual]

Update the set of bodies that are attached to the robot (re-creates them) using the indicated padding or default if non-specified.

Definition at line 276 of file environmentBVH.cpp.

template<typename BV >

void collision_space_ccd::EnvironmentModelBVH< BV >::updateAttachedBodies ( void ) [inline, virtual]

Update the set of bodies that are attached to the robot (re-creates them).

Implements collision_space_ccd::EnvironmentModel.

Definition at line 269 of file environmentBVH.cpp.

template<typename BV >