collision_detection Namespace Reference

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, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index)
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, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index)
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, int shape_index)
template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
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)

---

Detailed Description

Generic interface to collision detection.

---

Typedef Documentation

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.

typedef BodyTypes::Type collision_detection::BodyType

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 194 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

typedef boost::shared_ptr<FCLGeometry> collision_detection::FCLGeometryPtr

Definition at line 193 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

typedef boost::shared_ptr<const World> collision_detection::WorldConstPtr

Definition at line 267 of file world.h.

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

Definition at line 266 of file world.h.

---

Function Documentation

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.

void collision_detection::cleanCollisionGeometryCache

(

)

Definition at line 717 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,
		int	shape_index
	)

Definition at line 666 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const robot_state::AttachedBody *	ab,
		int	shape_index
	)

Definition at line 673 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const World::Object *	obj
	)

Definition at line 680 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const robot_model::LinkModel *	link,
		int	shape_index
	)

Definition at line 699 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const robot_state::AttachedBody *	ab,
		int	shape_index
	)

Definition at line 705 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const World::Object *	obj
	)

Definition at line 711 of file collision_common.cpp.

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const T *	data,
		int	shape_index
	)

Definition at line 479 of file collision_common.cpp.

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const T *	data,
		int	shape_index
	)

Definition at line 687 of file collision_common.cpp.

bool collision_detection::distanceCallback	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		void *	data,
		double &	min_dist
	)

Definition at line 360 of file collision_common.cpp.

void collision_detection::fcl2contact	(	const fcl::Contact &	fc,
		Contact &	c
	)		[inline]

Definition at line 247 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 260 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
	)

Todo:

add a class for managing 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.

template<typename BV , typename T >

FCLShapeCache& collision_detection::GetShapeCache

(

)

Definition at line 460 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

Parameters:

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 233 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

fcl::Transform3f collision_detection::transform2fcl

(

const Eigen::Affine3d &

b

)

[inline]

Definition at line 240 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.