collision_common.h File Reference

This contains common data used during collision checking. More...

#include <moveit/collision_detection/world.h>
#include <moveit/collision_detection/collision_world.h>
#include <fcl/broadphase/broadphase.h>
#include <fcl/collision.h>
#include <fcl/distance.h>
#include <set>

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Classes
struct	collision_detection::DistanceData
struct	collision_detection::DistanceInfo
	Contains distance information in the planning frame queried from getDistanceInfo() More...
struct	collision_detection::DistanceRequest
struct	collision_detection::DistanceResult
struct	collision_detection::DistanceResultsData
Namespaces
namespace	collision_detection
Typedefs
typedef std::map< std::string, DistanceInfo >	collision_detection::DistanceInfoMap
typedef std::map< std::string, DistanceResultsData >	collision_detection::DistanceMap
Functions
bool	collision_detection::distanceDetailedCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data, double &min_dist)
bool	collision_detection::getDistanceInfo (const DistanceMap &distance_detailed, DistanceInfoMap &distance_info_map, const Eigen::Affine3d &tf)
	getDistanceInfo
bool	collision_detection::getDistanceInfo (const DistanceMap &distance_detailed, DistanceInfoMap &distance_info_map)
	getDistanceInfo

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Detailed Description

This contains common data used during collision checking.

This add additional capability not found in the existing MoveIt implementation. The add capability is the ability to make detailed distance requests.

Author:

Levi Armstrong

Date:

May 4, 2016

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2016, Southwest Research Institute

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file collision_common.h.