A class describing an environment for a kinematic robot using ODE. More...
#include <environmentODE.h>
Classes | |
struct | AttGeom |
struct | CollisionData |
struct | CollisionNamespace |
struct | LinkGeom |
struct | ModelInfo |
class | ODECollide2 |
struct | ODEStorage |
Structure for maintaining ODE temporary data. More... | |
Public Member Functions | |
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 | addObject (const std::string &ns, shapes::Shape *shape, const tf::Transform &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 | addObjects (const std::string &ns, const std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &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 (void) |
Remove all objects from collision model. | |
virtual void | clearObjects (const std::string &ns) |
Remove objects from a specific namespace in the collision model. | |
virtual EnvironmentModel * | clone (void) const |
Clone the environment. | |
EnvironmentModelODE (void) | |
virtual bool | getAllCollisionContacts (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 bool | getAllObjectEnvironmentCollisionContacts (const std::string &object_name, std::vector< Contact > &contacts, unsigned int num_contacts_per_pair) const |
virtual void | getAttachedBodyPoses (std::map< std::string, std::vector< tf::Transform > > &pose_map) const |
virtual bool | getCollisionContacts (std::vector< Contact > &contacts, unsigned int max_total=1, unsigned int max_per_pair=1) const |
Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that's in collision. | |
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 | isObjectInEnvironmentCollision (const std::string &object_name) const |
Check if an object is in collision with the other static objects. | |
virtual bool | isObjectObjectCollision (const std::string &object1_name, const std::string &object2_name) const |
Check if two static objects are in collision. | |
virtual bool | isObjectRobotCollision (const std::string &object_name) const |
Check if a single static object is in collision with the robot. | |
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 (void) |
Update the set of bodies that are attached to the robot (re-creates them) | |
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 | updateRobotModel (const planning_models::KinematicState *state) |
Update the positions of the geometry used in collision detection. | |
virtual | ~EnvironmentModelODE (void) |
Protected Member Functions | |
void | addAttachedBody (LinkGeom *lg, const planning_models::KinematicModel::AttachedBodyModel *attm, double padd) |
void | checkThreadInit (void) const |
dGeomID | copyGeom (dSpaceID space, ODEStorage &storage, dGeomID geom, ODEStorage &sourceStorage) const |
dGeomID | createODEGeom (dSpaceID space, ODEStorage &storage, const shapes::Shape *shape, double scale, double padding) |
dGeomID | createODEGeom (dSpaceID space, ODEStorage &storage, const shapes::StaticShape *shape) |
void | createODERobotModel () |
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 | testObjectEnvironmentCollision (CollisionData *cdata, const std::string &object_name) const |
Test collision between an object and all other static objects. | |
void | testObjectObjectCollision (CollisionData *cdata, const std::string &object1_name, const std::string &object2_name) const |
Test collision between two static objects. | |
void | testSelfCollision (CollisionData *data) const |
Internal function for collision detection. | |
void | updateGeom (dGeomID geom, const tf::Transform &pose) const |
Protected Attributes | |
std::map< std::string, bool > | attached_bodies_in_collision_matrix_ |
std::map< std::string, CollisionNamespace * > | coll_namespaces_ |
std::map< std::string, dSpaceID > | dspace_lookup_map_ |
std::map< dGeomID, std::pair < std::string, BodyType > > | geom_lookup_map_ |
ModelInfo | model_geom_ |
bool | previous_set_robot_model_ |
Friends | |
void | nearCallbackFn (void *data, dGeomID o1, dGeomID o2) |
A class describing an environment for a kinematic robot using ODE.
Definition at line 48 of file environmentODE.h.
Definition at line 60 of file environmentODE.cpp.
collision_space::EnvironmentModelODE::~EnvironmentModelODE | ( | void | ) | [virtual] |
Definition at line 81 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::addAttachedBody | ( | LinkGeom * | lg, |
const planning_models::KinematicModel::AttachedBodyModel * | attm, | ||
double | padd | ||
) | [protected] |
Definition at line 387 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::addObject | ( | const std::string & | ns, |
shapes::StaticShape * | shape | ||
) | [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::EnvironmentModel.
Definition at line 1302 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::addObject | ( | const std::string & | ns, |
shapes::Shape * | shape, | ||
const tf::Transform & | pose | ||
) | [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::EnvironmentModel.
Definition at line 1279 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::addObjects | ( | const std::string & | ns, |
const std::vector< shapes::Shape * > & | shapes, | ||
const std::vector< tf::Transform > & | poses | ||
) | [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::EnvironmentModel.
Definition at line 1247 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::checkThreadInit | ( | void | ) | const [protected] |
Definition at line 115 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::clearObjects | ( | void | ) | [virtual] |
Remove all objects from collision model.
Implements collision_space::EnvironmentModel.
Definition at line 1323 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::clearObjects | ( | const std::string & | ns | ) | [virtual] |
Remove objects from a specific namespace in the collision model.
Implements collision_space::EnvironmentModel.
Definition at line 1334 of file environmentODE.cpp.
collision_space::EnvironmentModel * collision_space::EnvironmentModelODE::clone | ( | void | ) | const [virtual] |
Clone the environment.
Implements collision_space::EnvironmentModel.
Definition at line 1421 of file environmentODE.cpp.
dGeomID collision_space::EnvironmentModelODE::copyGeom | ( | dSpaceID | space, |
ODEStorage & | storage, | ||
dGeomID | geom, | ||
ODEStorage & | sourceStorage | ||
) | const [protected] |
Definition at line 1346 of file environmentODE.cpp.
dGeomID collision_space::EnvironmentModelODE::createODEGeom | ( | dSpaceID | space, |
ODEStorage & | storage, | ||
const shapes::Shape * | shape, | ||
double | scale, | ||
double | padding | ||
) | [protected] |
Definition at line 239 of file environmentODE.cpp.
dGeomID collision_space::EnvironmentModelODE::createODEGeom | ( | dSpaceID | space, |
ODEStorage & | storage, | ||
const shapes::StaticShape * | shape | ||
) | [protected] |
Definition at line 222 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::createODERobotModel | ( | ) | [protected] |
Definition at line 177 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::freeMemory | ( | void | ) | [protected] |
Definition at line 99 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::getAllCollisionContacts | ( | std::vector< Contact > & | contacts, |
unsigned int | num_per_contact = 1 |
||
) | const [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::EnvironmentModel.
Definition at line 957 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::getAllObjectEnvironmentCollisionContacts | ( | const std::string & | object_name, |
std::vector< Contact > & | contacts, | ||
unsigned int | num_contacts_per_pair | ||
) | const [virtual] |
Implements collision_space::EnvironmentModel.
Definition at line 1063 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::getAttachedBodyPoses | ( | std::map< std::string, std::vector< tf::Transform > > & | pose_map | ) | const [virtual] |
Implements collision_space::EnvironmentModel.
Definition at line 151 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::getCollisionContacts | ( | std::vector< Contact > & | contacts, |
unsigned int | max_total = 1 , |
||
unsigned int | max_per_pair = 1 |
||
) | const [virtual] |
Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that's in collision.
Implements collision_space::EnvironmentModel.
Definition at line 939 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::hasObject | ( | const std::string & | ns | ) | const [virtual] |
Tells whether or not there is an object with the given name in the collision model.
Implements collision_space::EnvironmentModel.
Definition at line 1239 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isCollision | ( | void | ) | const [virtual] |
Check if a model is in collision.
Implements collision_space::EnvironmentModel.
Definition at line 975 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isEnvironmentCollision | ( | void | ) | const [virtual] |
Check if a model is in environment collision.
Implements collision_space::EnvironmentModel.
Definition at line 1005 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isObjectInEnvironmentCollision | ( | const std::string & | object_name | ) | const [virtual] |
Check if an object is in collision with the other static objects.
Implements collision_space::EnvironmentModel.
Definition at line 1050 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isObjectObjectCollision | ( | const std::string & | object1_name, |
const std::string & | object2_name | ||
) | const [virtual] |
Check if two static objects are in collision.
Implements collision_space::EnvironmentModel.
Definition at line 1036 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isObjectRobotCollision | ( | const std::string & | object_name | ) | const [virtual] |
Check if a single static object is in collision with the robot.
Implements collision_space::EnvironmentModel.
Definition at line 1018 of file environmentODE.cpp.
bool collision_space::EnvironmentModelODE::isSelfCollision | ( | void | ) | const [virtual] |
Check if a model is in self collision.
Implements collision_space::EnvironmentModel.
Definition at line 992 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::revertAlteredLinkPadding | ( | ) | [virtual] |
Reverts link padding to that set at robot initialization
Reimplemented from collision_space::EnvironmentModel.
Definition at line 537 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::revertAttachedBodiesLinkPadding | ( | ) | [protected] |
Definition at line 452 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::setAlteredLinkPadding | ( | const std::map< std::string, double > & | link_padding_map | ) | [virtual] |
Sets a temporary robot padding on the indicated links
Reimplemented from collision_space::EnvironmentModel.
Definition at line 501 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::setAttachedBodiesLinkPadding | ( | ) | [protected] |
Definition at line 425 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::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 |
||
) | [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::EnvironmentModel.
Definition at line 129 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testCollision | ( | CollisionData * | data | ) | const [protected] |
Internal function for collision detection.
Definition at line 1220 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testEnvironmentCollision | ( | CollisionData * | data | ) | const [protected] |
Internal function for collision detection.
Definition at line 1231 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testObjectCollision | ( | CollisionNamespace * | cn, |
CollisionData * | data | ||
) | const [protected] |
Internal function for collision detection.
Definition at line 1130 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testObjectEnvironmentCollision | ( | CollisionData * | cdata, |
const std::string & | object_name | ||
) | const [protected] |
Test collision between an object and all other static objects.
Definition at line 1081 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testObjectObjectCollision | ( | CollisionData * | cdata, |
const std::string & | object1_name, | ||
const std::string & | object2_name | ||
) | const [protected] |
Test collision between two static objects.
Definition at line 1091 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::testSelfCollision | ( | CollisionData * | data | ) | const [protected] |
Internal function for collision detection.
Definition at line 1226 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::updateAttachedBodies | ( | void | ) | [virtual] |
Update the set of bodies that are attached to the robot (re-creates them)
Implements collision_space::EnvironmentModel.
Definition at line 342 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::updateAttachedBodies | ( | const std::map< std::string, double > & | link_padding_map | ) | [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 347 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::updateGeom | ( | dGeomID | geom, |
const tf::Transform & | pose | ||
) | const [protected] |
Definition at line 332 of file environmentODE.cpp.
void collision_space::EnvironmentModelODE::updateRobotModel | ( | const planning_models::KinematicState * | state | ) | [virtual] |
Update the positions of the geometry used in collision detection.
Implements collision_space::EnvironmentModel.
Definition at line 479 of file environmentODE.cpp.
void nearCallbackFn | ( | void * | data, |
dGeomID | o1, | ||
dGeomID | o2 | ||
) | [friend] |
Definition at line 755 of file environmentODE.cpp.
std::map<std::string, bool> collision_space::EnvironmentModelODE::attached_bodies_in_collision_matrix_ [protected] |
Definition at line 455 of file environmentODE.h.
std::map<std::string, CollisionNamespace*> collision_space::EnvironmentModelODE::coll_namespaces_ [protected] |
Definition at line 463 of file environmentODE.h.
std::map<std::string, dSpaceID> collision_space::EnvironmentModelODE::dspace_lookup_map_ [protected] |
Definition at line 466 of file environmentODE.h.
std::map<dGeomID, std::pair<std::string, BodyType> > collision_space::EnvironmentModelODE::geom_lookup_map_ [protected] |
Definition at line 465 of file environmentODE.h.
Definition at line 462 of file environmentODE.h.
Definition at line 468 of file environmentODE.h.