Generic interface to collision detection. More...
Namespaces | |
| namespace | AllowedCollision |
Any pair of bodies can have a collision state associated to it. | |
| namespace | BodyTypes |
The types of bodies that are considered for collision. | |
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... | |
| struct | CollisionData |
| class | CollisionDetectorAllocator |
| An allocator for a compatible CollisionWorld/CollisionRobot pair. More... | |
| class | CollisionDetectorAllocatorAllValid |
| An allocator for AllValid collision detectors. More... | |
| class | CollisionDetectorAllocatorFCL |
| An allocator for FCL collision detectors. More... | |
| class | CollisionDetectorAllocatorTemplate |
| Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. More... | |
| struct | CollisionGeometryData |
| struct | CollisionRequest |
| Representation of a collision checking request. More... | |
| struct | CollisionResult |
| Representation of a collision checking result. More... | |
| class | CollisionRobot |
| This class represents a collision model of the robot and can be used for self collision checks (to check if the robot is in collision with itself) or in collision checks with a different robot. Collision checks with the environment are performed using the CollisionWorld class. More... | |
| class | CollisionRobotAllValid |
| class | CollisionRobotFCL |
| class | CollisionWorld |
| Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in. More... | |
| class | CollisionWorldAllValid |
| class | CollisionWorldFCL |
| 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 | FCLGeometry |
| struct | FCLManager |
| struct | FCLObject |
| struct | FCLShapeCache |
| struct | IfSameType |
| struct | IfSameType< T, T > |
| 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 | |
| typedef boost::shared_ptr < const AllowedCollisionMatrix > | AllowedCollisionMatrixConstPtr |
| typedef boost::shared_ptr < AllowedCollisionMatrix > | AllowedCollisionMatrixPtr |
| typedef BodyTypes::Type | BodyType |
| The types of bodies that are considered for collision. | |
| typedef boost::shared_ptr < CollisionDetectorAllocator > | CollisionDetectorAllocatorPtr |
| typedef boost::shared_ptr < const CollisionRobot > | CollisionRobotConstPtr |
| typedef boost::shared_ptr < CollisionRobot > | CollisionRobotPtr |
| typedef boost::shared_ptr < const CollisionWorld > | CollisionWorldConstPtr |
| typedef boost::shared_ptr < CollisionWorld > | CollisionWorldPtr |
| typedef boost::function< bool(collision_detection::Contact &)> | DecideContactFn |
| Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL) | |
| typedef boost::shared_ptr < const FCLGeometry > | FCLGeometryConstPtr |
| typedef boost::shared_ptr < FCLGeometry > | FCLGeometryPtr |
| typedef boost::shared_ptr < const World > | WorldConstPtr |
| typedef boost::shared_ptr < const WorldDiff > | WorldDiffConstPtr |
| typedef boost::shared_ptr < WorldDiff > | WorldDiffPtr |
| typedef boost::shared_ptr< World > | WorldPtr |
Functions | |
| static bool | andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, collision_detection::Contact &contact) |
| void | cleanCollisionGeometryCache () |
| bool | collisionCallback (fcl::CollisionObject *o1, fcl::CollisionObject *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 robot_model::LinkModel *link) |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab) |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj) |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link) |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab) |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj) |
| template<typename BV , typename T > | |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data) |
| template<typename BV , typename T > | |
| FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data) |
| bool | distanceCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data, double &min_dist) |
| void | fcl2contact (const fcl::Contact &fc, Contact &c) |
| void | fcl2costsource (const fcl::CostSource &fcs, CostSource &cs) |
| 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) |
| void | getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con) |
| 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) |
| bool | getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources) |
| template<typename BV , typename T > | |
| 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) |
| 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. | |
| 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) |
| void | transform2fcl (const Eigen::Affine3d &b, fcl::Transform3f &f) |
| fcl::Transform3f | transform2fcl (const Eigen::Affine3d &b) |
Generic interface to collision detection.
Author Ioan Sucan
| typedef boost::shared_ptr<const AllowedCollisionMatrix> collision_detection::AllowedCollisionMatrixConstPtr |
Definition at line 247 of file collision_matrix.h.
| typedef boost::shared_ptr<AllowedCollisionMatrix> collision_detection::AllowedCollisionMatrixPtr |
Definition at line 246 of file collision_matrix.h.
The types of bodies that are considered for collision.
Definition at line 69 of file include/moveit/collision_detection/collision_common.h.
| typedef boost::shared_ptr<CollisionDetectorAllocator> collision_detection::CollisionDetectorAllocatorPtr |
Definition at line 67 of file collision_detector_allocator.h.
| typedef boost::shared_ptr<const CollisionRobot> collision_detection::CollisionRobotConstPtr |
Definition at line 257 of file collision_robot.h.
| typedef boost::shared_ptr<CollisionRobot> collision_detection::CollisionRobotPtr |
Definition at line 256 of file collision_robot.h.
| typedef boost::shared_ptr<const CollisionWorld> collision_detection::CollisionWorldConstPtr |
Definition at line 243 of file collision_world.h.
| typedef boost::shared_ptr<CollisionWorld> collision_detection::CollisionWorldPtr |
Definition at line 242 of file collision_world.h.
| typedef boost::function<bool(collision_detection::Contact&)> collision_detection::DecideContactFn |
Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)
Definition at line 72 of file collision_matrix.h.
| typedef boost::shared_ptr<const FCLGeometry> collision_detection::FCLGeometryConstPtr |
Definition at line 181 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.
| typedef boost::shared_ptr<FCLGeometry> collision_detection::FCLGeometryPtr |
Definition at line 180 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.
| typedef boost::shared_ptr<const World> collision_detection::WorldConstPtr |
| typedef boost::shared_ptr<const WorldDiff> collision_detection::WorldDiffConstPtr |
Definition at line 128 of file world_diff.h.
| typedef boost::shared_ptr<WorldDiff> collision_detection::WorldDiffPtr |
Definition at line 127 of file world_diff.h.
| typedef boost::shared_ptr<World> collision_detection::WorldPtr |
| static bool collision_detection::andDecideContact | ( | const DecideContactFn & | f1, |
| const DecideContactFn & | f2, | ||
| collision_detection::Contact & | contact | ||
| ) | [static] |
Definition at line 254 of file collision_matrix.cpp.
Definition at line 711 of file collision_common.cpp.
| bool collision_detection::collisionCallback | ( | fcl::CollisionObject * | o1, |
| fcl::CollisionObject * | o2, | ||
| void * | data | ||
| ) |
Definition at line 46 of file collision_common.cpp.
| void collision_detection::contactToMsg | ( | const Contact & | contact, |
| moveit_msgs::ContactInformation & | msg | ||
| ) |
Definition at line 271 of file collision_tools.cpp.
| void collision_detection::costSourceToMsg | ( | const CostSource & | cost_source, |
| moveit_msgs::CostSource & | msg | ||
| ) |
Definition at line 260 of file collision_tools.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| const robot_model::LinkModel * | link | ||
| ) |
Definition at line 662 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| const robot_state::AttachedBody * | ab | ||
| ) |
Definition at line 668 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| const World::Object * | obj | ||
| ) |
Definition at line 674 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| double | scale, | ||
| double | padding, | ||
| const robot_model::LinkModel * | link | ||
| ) |
Definition at line 693 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| double | scale, | ||
| double | padding, | ||
| const robot_state::AttachedBody * | ab | ||
| ) |
Definition at line 699 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| double | scale, | ||
| double | padding, | ||
| const World::Object * | obj | ||
| ) |
Definition at line 705 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| const T * | data | ||
| ) |
Definition at line 475 of file collision_common.cpp.
| FCLGeometryConstPtr collision_detection::createCollisionGeometry | ( | const shapes::ShapeConstPtr & | shape, |
| double | scale, | ||
| double | padding, | ||
| const T * | data | ||
| ) |
Definition at line 681 of file collision_common.cpp.
| bool collision_detection::distanceCallback | ( | fcl::CollisionObject * | o1, |
| fcl::CollisionObject * | o2, | ||
| void * | data, | ||
| double & | min_dist | ||
| ) |
Definition at line 356 of file collision_common.cpp.
| void collision_detection::fcl2contact | ( | const fcl::Contact & | fc, |
| Contact & | c | ||
| ) | [inline] |
Definition at line 232 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.
| void collision_detection::fcl2costsource | ( | const fcl::CostSource & | fcs, |
| CostSource & | cs | ||
| ) | [inline] |
Definition at line 245 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.
| 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 90 of file collision_tools.cpp.
| void collision_detection::getCollisionMarkersFromContacts | ( | visualization_msgs::MarkerArray & | arr, |
| const std::string & | frame_id, | ||
| const CollisionResult::ContactMap & | con | ||
| ) |
Definition at line 47 of file collision_tools.cpp.
| void collision_detection::getCostMarkers | ( | visualization_msgs::MarkerArray & | arr, |
| const std::string & | frame_id, | ||
| std::set< CostSource > & | cost_sources | ||
| ) |
Definition at line 40 of file collision_tools.cpp.
| 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 56 of file collision_tools.cpp.
| bool collision_detection::getSensorPositioning | ( | geometry_msgs::Point & | point, |
| const std::set< CostSource > & | cost_sources | ||
| ) |
Definition at line 132 of file collision_tools.cpp.
| FCLShapeCache& collision_detection::GetShapeCache | ( | ) |
Definition at line 456 of file collision_common.cpp.
| double collision_detection::getTotalCost | ( | const std::set< CostSource > & | cost_sources | ) |
Definition at line 146 of file collision_tools.cpp.
| void collision_detection::intersectCostSources | ( | std::set< CostSource > & | cost_sources, |
| const std::set< CostSource > & | a, | ||
| const std::set< CostSource > & | b | ||
| ) |
Definition at line 155 of file collision_tools.cpp.
| 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
| The | octomap originally used for collision detection. |
| The | collision result (which will get its normals updated) |
| The | distance, as a multiple of the octomap cell size, from which to include neighboring cells. |
| The | minimum angle change required for a normal to be over-written |
| Whether | to request a depth estimate from the algorithm (experimental...) |
| The | iso-surface threshold value (0.5 is a reasonable default). |
| The | metaball radius, as a multiple of the octomap cell size (1.5 is a reasonable default) |
Definition at line 73 of file collision_octomap_filter.cpp.
| void collision_detection::removeCostSources | ( | std::set< CostSource > & | cost_sources, |
| const std::set< CostSource > & | cost_sources_to_remove, | ||
| double | overlap_fraction | ||
| ) |
Definition at line 208 of file collision_tools.cpp.
| void collision_detection::removeOverlapping | ( | std::set< CostSource > & | cost_sources, |
| double | overlap_fraction | ||
| ) |
Definition at line 177 of file collision_tools.cpp.
| void collision_detection::transform2fcl | ( | const Eigen::Affine3d & | b, |
| fcl::Transform3f & | f | ||
| ) | [inline] |
Definition at line 218 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.
| fcl::Transform3f collision_detection::transform2fcl | ( | const Eigen::Affine3d & | b | ) | [inline] |
Definition at line 225 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.