#include <collision_world_distance_field.h>
Inheritance diagram for collision_detection::CollisionWorldDistanceField:
Classes | |
| struct | DistanceFieldCacheEntry |
Public Member Functions | |
| virtual void | checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
| virtual void | checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| virtual void | checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
| virtual void | checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
| virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
| virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const |
| 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 |
| virtual void | checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const |
| virtual void | checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const |
| CollisionWorldDistanceField (Eigen::Vector3d size=Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE) | |
| CollisionWorldDistanceField (const WorldPtr &world, Eigen::Vector3d size=Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE) | |
| CollisionWorldDistanceField (const CollisionWorldDistanceField &other, const WorldPtr &world) | |
| virtual double | distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state) const |
| virtual double | distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
| virtual double | distanceWorld (const CollisionWorld &world) const |
| virtual double | distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm) const |
| void | generateEnvironmentDistanceField (bool redo=true) |
| void | getAllCollisions (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| void | getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| boost::shared_ptr< const distance_field::DistanceField > | getDistanceField () const |
| boost::shared_ptr< const collision_detection::GroupStateRepresentation > | getLastGroupStateRepresentation () const |
| virtual void | setWorld (const WorldPtr &world) |
| virtual | ~CollisionWorldDistanceField () |
Protected Member Functions | |
| boost::shared_ptr < DistanceFieldCacheEntry > | generateDistanceFieldCacheEntry () |
| bool | getEnvironmentCollisions (const CollisionRequest &req, CollisionResult &res, const boost::shared_ptr< const distance_field::DistanceField > &env_distance_field, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| bool | getEnvironmentProximityGradients (const boost::shared_ptr< const distance_field::DistanceField > &env_distance_field, boost::shared_ptr< GroupStateRepresentation > &gsr) const |
| void | updateDistanceObject (const std::string &id, boost::shared_ptr< CollisionWorldDistanceField::DistanceFieldCacheEntry > &dfce, EigenSTL::vector_Vector3d &add_points, EigenSTL::vector_Vector3d &subtract_points) |
Static Protected Member Functions | |
| static void | notifyObjectChange (CollisionWorldDistanceField *self, const ObjectConstPtr &obj, World::Action action) |
Protected Attributes | |
| double | collision_tolerance_ |
| boost::shared_ptr < DistanceFieldCacheEntry > | distance_field_cache_entry_ |
| boost::shared_ptr < collision_detection::GroupStateRepresentation > | last_gsr_ |
| double | max_propogation_distance_ |
| World::ObserverHandle | observer_handle_ |
| Eigen::Vector3d | origin_ |
| double | resolution_ |
| Eigen::Vector3d | size_ |
| boost::mutex | update_cache_lock_ |
| bool | use_signed_distance_field_ |
Detailed Description
Definition at line 46 of file collision_world_distance_field.h.
Constructor & Destructor Documentation
| collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField | ( | Eigen::Vector3d | size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), |
| Eigen::Vector3d | origin = Eigen::Vector3d(0, 0, 0), |
||
| bool | use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD, |
||
| double | resolution = DEFAULT_RESOLUTION, |
||
| double | collision_tolerance = DEFAULT_COLLISION_TOLERANCE, |
||
| double | max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE |
||
| ) |
Definition at line 51 of file collision_world_distance_field.cpp.
| collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField | ( | const WorldPtr & | world, |
| Eigen::Vector3d | size = Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), |
||
| Eigen::Vector3d | origin = Eigen::Vector3d(0, 0, 0), |
||
| bool | use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD, |
||
| double | resolution = DEFAULT_RESOLUTION, |
||
| double | collision_tolerance = DEFAULT_COLLISION_TOLERANCE, |
||
| double | max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE |
||
| ) | [explicit] |
Definition at line 69 of file collision_world_distance_field.cpp.
| collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField | ( | const CollisionWorldDistanceField & | other, |
| const WorldPtr & | world | ||
| ) |
Definition at line 89 of file collision_world_distance_field.cpp.
Definition at line 46 of file collision_world_distance_field.cpp.
Member Function Documentation
| void collision_detection::CollisionWorldDistanceField::checkCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state | ||
| ) | const [virtual] |
Reimplemented from collision_detection::CollisionWorld.
Definition at line 107 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [virtual] |
Definition at line 115 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix & | acm | ||
| ) | const [virtual] |
Reimplemented from collision_detection::CollisionWorld.
Definition at line 149 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix & | acm, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [virtual] |
Definition at line 157 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state | ||
| ) | const [virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 192 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [virtual] |
Definition at line 200 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix & | acm | ||
| ) | const [virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 230 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix & | acm, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [virtual] |
Definition at line 238 of file collision_world_distance_field.cpp.
| virtual void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state1, | ||
| const robot_state::RobotState & | state2 | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 102 of file collision_world_distance_field.h.
| virtual void collision_detection::CollisionWorldDistanceField::checkRobotCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state1, | ||
| const robot_state::RobotState & | state2, | ||
| const AllowedCollisionMatrix & | acm | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 106 of file collision_world_distance_field.h.
| virtual void collision_detection::CollisionWorldDistanceField::checkWorldCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionWorld & | other_world | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 111 of file collision_world_distance_field.h.
| virtual void collision_detection::CollisionWorldDistanceField::checkWorldCollision | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionWorld & | other_world, | ||
| const AllowedCollisionMatrix & | acm | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 115 of file collision_world_distance_field.h.
| virtual double collision_detection::CollisionWorldDistanceField::distanceRobot | ( | const CollisionRobot & | robot, |
| const robot_state::RobotState & | state | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 120 of file collision_world_distance_field.h.
| virtual double collision_detection::CollisionWorldDistanceField::distanceRobot | ( | const CollisionRobot & | robot, |
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix & | acm | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 124 of file collision_world_distance_field.h.
| virtual double collision_detection::CollisionWorldDistanceField::distanceWorld | ( | const CollisionWorld & | world | ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 129 of file collision_world_distance_field.h.
| virtual double collision_detection::CollisionWorldDistanceField::distanceWorld | ( | const CollisionWorld & | world, |
| const AllowedCollisionMatrix & | acm | ||
| ) | const [inline, virtual] |
Implements collision_detection::CollisionWorld.
Definition at line 133 of file collision_world_distance_field.h.
| boost::shared_ptr< CollisionWorldDistanceField::DistanceFieldCacheEntry > collision_detection::CollisionWorldDistanceField::generateDistanceFieldCacheEntry | ( | ) | [protected] |
Definition at line 555 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::generateEnvironmentDistanceField | ( | bool | redo = true | ) |
| void collision_detection::CollisionWorldDistanceField::getAllCollisions | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix * | acm, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const |
Definition at line 301 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::getCollisionGradients | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const CollisionRobot & | robot, | ||
| const robot_state::RobotState & | state, | ||
| const AllowedCollisionMatrix * | acm, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const |
Definition at line 269 of file collision_world_distance_field.cpp.
| boost::shared_ptr<const distance_field::DistanceField> collision_detection::CollisionWorldDistanceField::getDistanceField | ( | ) | const [inline] |
Definition at line 142 of file collision_world_distance_field.h.
| bool collision_detection::CollisionWorldDistanceField::getEnvironmentCollisions | ( | const CollisionRequest & | req, |
| CollisionResult & | res, | ||
| const boost::shared_ptr< const distance_field::DistanceField > & | env_distance_field, | ||
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [protected] |
Definition at line 332 of file collision_world_distance_field.cpp.
| bool collision_detection::CollisionWorldDistanceField::getEnvironmentProximityGradients | ( | const boost::shared_ptr< const distance_field::DistanceField > & | env_distance_field, |
| boost::shared_ptr< GroupStateRepresentation > & | gsr | ||
| ) | const [protected] |
Definition at line 417 of file collision_world_distance_field.cpp.
| boost::shared_ptr<const collision_detection::GroupStateRepresentation> collision_detection::CollisionWorldDistanceField::getLastGroupStateRepresentation | ( | ) | const [inline] |
Definition at line 147 of file collision_world_distance_field.h.
| void collision_detection::CollisionWorldDistanceField::notifyObjectChange | ( | CollisionWorldDistanceField * | self, |
| const ObjectConstPtr & | obj, | ||
| World::Action | action | ||
| ) | [static, protected] |
Definition at line 477 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::setWorld | ( | const WorldPtr & | world | ) | [virtual] |
Reimplemented from collision_detection::CollisionWorld.
Definition at line 456 of file collision_world_distance_field.cpp.
| void collision_detection::CollisionWorldDistanceField::updateDistanceObject | ( | const std::string & | id, |
| boost::shared_ptr< CollisionWorldDistanceField::DistanceFieldCacheEntry > & | dfce, | ||
| EigenSTL::vector_Vector3d & | add_points, | ||
| EigenSTL::vector_Vector3d & | subtract_points | ||
| ) | [protected] |
Definition at line 503 of file collision_world_distance_field.cpp.
Member Data Documentation
double collision_detection::CollisionWorldDistanceField::collision_tolerance_ [protected] |
Definition at line 181 of file collision_world_distance_field.h.
boost::shared_ptr<DistanceFieldCacheEntry> collision_detection::CollisionWorldDistanceField::distance_field_cache_entry_ [protected] |
Definition at line 185 of file collision_world_distance_field.h.
boost::shared_ptr<collision_detection::GroupStateRepresentation> collision_detection::CollisionWorldDistanceField::last_gsr_ [protected] |
Definition at line 186 of file collision_world_distance_field.h.
double collision_detection::CollisionWorldDistanceField::max_propogation_distance_ [protected] |
Definition at line 182 of file collision_world_distance_field.h.
World::ObserverHandle collision_detection::CollisionWorldDistanceField::observer_handle_ [protected] |
Definition at line 187 of file collision_world_distance_field.h.
Eigen::Vector3d collision_detection::CollisionWorldDistanceField::origin_ [protected] |
Definition at line 178 of file collision_world_distance_field.h.
double collision_detection::CollisionWorldDistanceField::resolution_ [protected] |
Definition at line 180 of file collision_world_distance_field.h.
Eigen::Vector3d collision_detection::CollisionWorldDistanceField::size_ [protected] |
Definition at line 177 of file collision_world_distance_field.h.
boost::mutex collision_detection::CollisionWorldDistanceField::update_cache_lock_ [mutable, protected] |
Definition at line 184 of file collision_world_distance_field.h.
Definition at line 179 of file collision_world_distance_field.h.
The documentation for this class was generated from the following files: