#include <collision_world_fcl.h>
Public Member Functions | |
virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
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 |
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 |
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 |
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 |
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 |
Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered. | |
CollisionWorldFCL () | |
CollisionWorldFCL (const WorldPtr &world) | |
CollisionWorldFCL (const CollisionWorldFCL &other, const WorldPtr &world) | |
virtual double | distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state) const |
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 |
Compute the shortest distance between a robot and the world. | |
virtual double | distanceWorld (const CollisionWorld &world) const |
The shortest distance to another world instance (world) | |
virtual double | distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm) const |
The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm) | |
virtual void | setWorld (const WorldPtr &world) |
virtual | ~CollisionWorldFCL () |
Protected Member Functions | |
void | checkRobotCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const |
void | checkWorldCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const |
void | constructFCLObject (const World::Object *obj, FCLObject &fcl_obj) const |
double | distanceRobotHelper (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const |
double | distanceWorldHelper (const CollisionWorld &world, const AllowedCollisionMatrix *acm) const |
void | updateFCLObject (const std::string &id) |
Protected Attributes | |
std::map< std::string, FCLObject > | fcl_objs_ |
boost::scoped_ptr < fcl::BroadPhaseCollisionManager > | manager_ |
Private Member Functions | |
void | initialize () |
void | notifyObjectChange (const ObjectConstPtr &obj, World::Action action) |
Private Attributes | |
World::ObserverHandle | observer_handle_ |
Definition at line 47 of file collision_world_fcl.h.
Definition at line 43 of file collision_world_fcl.cpp.
collision_detection::CollisionWorldFCL::CollisionWorldFCL | ( | const WorldPtr & | world | ) | [explicit] |
Definition at line 54 of file collision_world_fcl.cpp.
collision_detection::CollisionWorldFCL::CollisionWorldFCL | ( | const CollisionWorldFCL & | other, |
const WorldPtr & | world | ||
) |
Definition at line 66 of file collision_world_fcl.cpp.
Definition at line 82 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkRobotCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state | ||
) | const [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.
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 |
Implements collision_detection::CollisionWorld.
Definition at line 87 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkRobotCollision | ( | 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 the world. Allowed collisions are ignored. Self collisions are not checked.
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. |
Implements collision_detection::CollisionWorld.
Definition at line 92 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkRobotCollision | ( | 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 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.
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 |
Implements collision_detection::CollisionWorld.
Definition at line 97 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkRobotCollision | ( | 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 the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.
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. |
Implements collision_detection::CollisionWorld.
Definition at line 102 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkRobotCollisionHelper | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state, | ||
const AllowedCollisionMatrix * | acm | ||
) | const [protected] |
Definition at line 107 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkWorldCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionWorld & | other_world | ||
) | const [virtual] |
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result |
other_world | The other collision world |
Implements collision_detection::CollisionWorld.
Definition at line 122 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkWorldCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionWorld & | other_world, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.
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. |
Implements collision_detection::CollisionWorld.
Definition at line 127 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::checkWorldCollisionHelper | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionWorld & | other_world, | ||
const AllowedCollisionMatrix * | acm | ||
) | const [protected] |
Definition at line 132 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::constructFCLObject | ( | const World::Object * | obj, |
FCLObject & | fcl_obj | ||
) | const [protected] |
Definition at line 142 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceRobot | ( | const CollisionRobot & | robot, |
const robot_state::RobotState & | state | ||
) | const [virtual] |
Compute the shortest distance between a robot and the world.
robot | The robot to check distance for |
state | The state for the robot to check distances from |
Implements collision_detection::CollisionWorld.
Definition at line 252 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceRobot | ( | const CollisionRobot & | robot, |
const robot_state::RobotState & | state, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Compute the shortest distance between a robot and the world.
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. |
Implements collision_detection::CollisionWorld.
Definition at line 257 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceRobotHelper | ( | const CollisionRobot & | robot, |
const robot_state::RobotState & | state, | ||
const AllowedCollisionMatrix * | acm | ||
) | const [protected] |
Definition at line 234 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceWorld | ( | const CollisionWorld & | world | ) | const [virtual] |
The shortest distance to another world instance (world)
Implements collision_detection::CollisionWorld.
Definition at line 262 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceWorld | ( | const CollisionWorld & | world, |
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm)
Implements collision_detection::CollisionWorld.
Definition at line 267 of file collision_world_fcl.cpp.
double collision_detection::CollisionWorldFCL::distanceWorldHelper | ( | const CollisionWorld & | world, |
const AllowedCollisionMatrix * | acm | ||
) | const [protected] |
Definition at line 272 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::initialize | ( | ) | [private] |
void collision_detection::CollisionWorldFCL::notifyObjectChange | ( | const ObjectConstPtr & | obj, |
World::Action | action | ||
) | [private] |
Definition at line 213 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::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 from collision_detection::CollisionWorld.
Definition at line 191 of file collision_world_fcl.cpp.
void collision_detection::CollisionWorldFCL::updateFCLObject | ( | const std::string & | id | ) | [protected] |
Definition at line 156 of file collision_world_fcl.cpp.
std::map<std::string, FCLObject > collision_detection::CollisionWorldFCL::fcl_objs_ [protected] |
Definition at line 83 of file collision_world_fcl.h.
boost::scoped_ptr<fcl::BroadPhaseCollisionManager> collision_detection::CollisionWorldFCL::manager_ [protected] |
Definition at line 82 of file collision_world_fcl.h.
Definition at line 88 of file collision_world_fcl.h.