Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in. More...

#include <collision_world.h>

Inheritance diagram for collision_detection::CollisionWorld:

[legend]

List of all members.

Public Types
typedef World::ObjectConstPtr	ObjectConstPtr
typedef World::ObjectPtr	ObjectPtr
Public Member Functions
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
	Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
	Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states) Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states). Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const =0
	Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const =0
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const =0
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.
virtual void	checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const =0
	Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
virtual void	checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const =0
	Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.
	CollisionWorld ()
	CollisionWorld (const WorldPtr &world)
	CollisionWorld (const CollisionWorld &other, const WorldPtr &world)
	A copy constructor. other should not be changed while the copy constructor is running. world must be the same world as used by other or a (not-yet-modified) copy of the world used by other.
virtual double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state) const =0
	Compute the shortest distance between a robot and the world.
virtual double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	Compute the shortest distance between a robot and the world.
virtual double	distanceWorld (const CollisionWorld &world) const =0
	The shortest distance to another world instance (world)
virtual double	distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm) const =0
	The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm)
const WorldPtr &	getWorld ()
const WorldConstPtr &	getWorld () const
virtual void	setWorld (const WorldPtr &world)
virtual	~CollisionWorld ()
Private Attributes
WorldPtr	world_
WorldConstPtr	world_const_

Detailed Description

Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in.

Definition at line 53 of file collision_world.h.

Member Typedef Documentation

typedef World::ObjectConstPtr collision_detection::CollisionWorld::ObjectConstPtr

Definition at line 235 of file collision_world.h.

typedef World::ObjectPtr collision_detection::CollisionWorld::ObjectPtr

Definition at line 234 of file collision_world.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorld::CollisionWorld ( )

Definition at line 40 of file collision_world.cpp.

collision_detection::CollisionWorld::CollisionWorld ( const WorldPtr & world ) [explicit]

Definition at line 46 of file collision_world.cpp.

collision_detection::CollisionWorld::CollisionWorld	(	const CollisionWorld &	other,
		const WorldPtr &	world
	)

A copy constructor. other should not be changed while the copy constructor is running. world must be the same world as used by other or a (not-yet-modified) copy of the world used by other.

Definition at line 52 of file collision_world.cpp.

virtual collision_detection::CollisionWorld::~CollisionWorld ( ) [inline, virtual]

Definition at line 65 of file collision_world.h.

Member Function Documentation

void collision_detection::CollisionWorld::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const `[virtual]`

Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Definition at line 58 of file collision_world.cpp.

void collision_detection::CollisionWorld::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Definition at line 65 of file collision_world.cpp.

void collision_detection::CollisionWorld::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const `[virtual]`

Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states) Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made

Definition at line 72 of file collision_world.cpp.

void collision_detection::CollisionWorld::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states). Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Definition at line 80 of file collision_world.cpp.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const `[pure virtual]`

Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state	The kinematic state for which checks are being made

Implemented in collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const `[pure virtual]`

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made

Implemented in collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world
	)		const `[pure virtual]`

Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
other_world	The other collision world

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual void collision_detection::CollisionWorld::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
other_world	The other collision world
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual double collision_detection::CollisionWorld::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const `[pure virtual]`

Compute the shortest distance between a robot and the world.

Parameters:

robot	The robot to check distance for
state	The state for the robot to check distances from

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual double collision_detection::CollisionWorld::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Compute the shortest distance between a robot and the world.

Parameters:

robot	The robot to check distance for
state	The state for the robot to check distances from
acm	Using an allowed collision matrix has the effect of ignoring distances from links that are always allowed to be in collision.

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual double collision_detection::CollisionWorld::distanceWorld ( const CollisionWorld & world ) const [pure virtual]

The shortest distance to another world instance (world)

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual double collision_detection::CollisionWorld::distanceWorld	(	const CollisionWorld &	world,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm)

Implemented in collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

const WorldPtr& collision_detection::CollisionWorld::getWorld ( ) [inline]

access the world geometry

Definition at line 223 of file collision_world.h.

const WorldConstPtr& collision_detection::CollisionWorld::getWorld ( ) const [inline]

access the world geometry

Definition at line 229 of file collision_world.h.

void collision_detection::CollisionWorld::setWorld ( const WorldPtr & world ) [virtual]

set the world to use. This can be expensive unless the new and old world are empty. Passing NULL will result in a new empty world being created.

Reimplemented in collision_detection::CollisionWorldFCL.

Definition at line 88 of file collision_world.cpp.