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...

#include <collision_robot.h>

Inheritance diagram for collision_detection::CollisionRobot:

[legend]

List of all members.

Public Member Functions
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const =0
	Check for collision with a different robot (possibly a different kinematic model as well). Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const =0
	Check for collision with a different robot (possibly a different kinematic model as well). Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const =0
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2, const AllowedCollisionMatrix &acm) const =0
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const =0
	Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const =0
	Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const =0
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
	CollisionRobot (const robot_model::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
	Constructor.
	CollisionRobot (const CollisionRobot &other)
	A copy constructor.
virtual double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const =0
	The distance to another robot instance.
virtual double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const =0
	The distance to another robot instance, ignoring distances between links that are allowed to always collide.
virtual double	distanceSelf (const robot_state::RobotState &state) const =0
	The distance to self-collision given the robot is at state state.
virtual double	distanceSelf (const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)
double	getLinkPadding (const std::string &link_name) const
	Get the link padding for a particular link.
const std::map< std::string, double > &	getLinkPadding () const
	Get the link paddings as a map (from link names to padding value)
double	getLinkScale (const std::string &link_name) const
	Set the scaling for a particular link.
const std::map< std::string, double > &	getLinkScale () const
	Get the link scaling as a map (from link names to scale value)
void	getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const
	Get the link padding as a vector of messages.
const robot_model::RobotModelConstPtr &	getRobotModel () const
	The kinematic model corresponding to this collision model.
void	getScale (std::vector< moveit_msgs::LinkScale > &scale) const
	Get the link scaling as a vector of messages.
void	setLinkPadding (const std::string &link_name, double padding)
	Set the link padding for a particular link.
void	setLinkPadding (const std::map< std::string, double > &padding)
	Set the link paddings using a map (from link names to padding value)
void	setLinkScale (const std::string &link_name, double scale)
	Set the scaling for a particular link.
void	setLinkScale (const std::map< std::string, double > &scale)
	Set the link scaling using a map (from link names to scale value)
void	setPadding (double padding)
	Set the link padding (for every link)
void	setPadding (const std::vector< moveit_msgs::LinkPadding > &padding)
	Set the link padding from a vector of messages.
void	setScale (double scale)
	Set the link scaling (for every link)
void	setScale (const std::vector< moveit_msgs::LinkScale > &scale)
	Set the link scaling from a vector of messages.
virtual	~CollisionRobot ()
Protected Member Functions
virtual void	updatedPaddingOrScaling (const std::vector< std::string > &links)
	When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.
Protected Attributes
std::map< std::string, double >	link_padding_
	The internally maintained map (from link names to padding)
std::map< std::string, double >	link_scale_
	The internally maintained map (from link names to scaling)
robot_model::RobotModelConstPtr	robot_model_
	The kinematic model corresponding to this collision model.

Detailed Description

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.

Definition at line 54 of file collision_robot.h.

Constructor & Destructor Documentation

collision_detection::CollisionRobot::CollisionRobot	(	const robot_model::RobotModelConstPtr &	model,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Constructor.

Parameters:

model	A robot model to construct the collision robot from
padding	The padding to use for all objects/links on the robot scale A common scaling to use for all objects/links on the robot

Definition at line 70 of file collision_robot.cpp.

collision_detection::CollisionRobot::CollisionRobot ( const CollisionRobot & other )

A copy constructor.

Definition at line 87 of file collision_robot.cpp.

virtual collision_detection::CollisionRobot::~CollisionRobot ( ) [inline, virtual]

Definition at line 67 of file collision_robot.h.

Member Function Documentation

virtual void collision_detection::CollisionRobot::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const `[pure virtual]`

Check for collision with a different robot (possibly a different kinematic model as well). Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made.
other_robot	The collision representation for the other robot
other_state	The kinematic state corresponding to the other robot

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check for collision with a different robot (possibly a different kinematic model as well). Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made.
other_robot	The collision representation for the other robot
other_state	The kinematic state corresponding to the other robot
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state1,
		const robot_state::RobotState &	other_state2
	)		const `[pure virtual]`

Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made (this robot)
state2	The kinematic state at the end of the segment for which checks are being made (this robot)
other_robot	The collision representation for the other robot
other_state1	The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2	The kinematic state at the end of the segment for which checks are being made (other robot)

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state1,
		const robot_state::RobotState &	other_state2,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made (this robot)
state2	The kinematic state at the end of the segment for which checks are being made (this robot)
other_robot	The collision representation for the other robot
other_state1	The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2	The kinematic state at the end of the segment for which checks are being made (other robot)
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state
	)		const `[pure virtual]`

Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const `[pure virtual]`

Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
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

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual void collision_detection::CollisionRobot::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
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.

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual double collision_detection::CollisionRobot::distanceOther	(	const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const `[pure virtual]`

The distance to another robot instance.

Parameters:

state	The state of this robot to consider
other_robot	The other robot instance to measure distance to
other_state	The state of the other robot

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual double collision_detection::CollisionRobot::distanceOther	(	const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

The distance to another robot instance, ignoring distances between links that are allowed to always collide.

Parameters:

state	The state of this robot to consider
other_robot	The other robot instance to measure distance to
other_state	The state of the other robot
acm	The collision matrix specifying which links are allowed to always collide

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual double collision_detection::CollisionRobot::distanceSelf ( const robot_state::RobotState & state ) const [pure virtual]

The distance to self-collision given the robot is at state state.

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

virtual double collision_detection::CollisionRobot::distanceSelf	(	const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[pure virtual]`

The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)

Implemented in collision_detection::CollisionRobotFCL, and collision_detection::CollisionRobotAllValid.

double collision_detection::CollisionRobot::getLinkPadding ( const std::string & link_name ) const

Get the link padding for a particular link.

Definition at line 136 of file collision_robot.cpp.

const std::map< std::string, double > & collision_detection::CollisionRobot::getLinkPadding ( ) const

Get the link paddings as a map (from link names to padding value)

Definition at line 159 of file collision_robot.cpp.

double collision_detection::CollisionRobot::getLinkScale ( const std::string & link_name ) const

Set the scaling for a particular link.

Definition at line 175 of file collision_robot.cpp.

const std::map< std::string, double > & collision_detection::CollisionRobot::getLinkScale ( ) const

Get the link scaling as a map (from link names to scale value)

Definition at line 198 of file collision_robot.cpp.

void collision_detection::CollisionRobot::getPadding ( std::vector< moveit_msgs::LinkPadding > & padding ) const

Get the link padding as a vector of messages.

Definition at line 231 of file collision_robot.cpp.

const robot_model::RobotModelConstPtr& collision_detection::CollisionRobot::getRobotModel ( ) const [inline]

The kinematic model corresponding to this collision model.

Definition at line 189 of file collision_robot.h.

void collision_detection::CollisionRobot::getScale ( std::vector< moveit_msgs::LinkScale > & scale ) const

Get the link scaling as a vector of messages.

Definition at line 243 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setLinkPadding	(	const std::string &	link_name,
		double	padding
	)

Set the link padding for a particular link.

Parameters:

link_name	The link name to set padding for
padding	The padding to set (in meters)

Definition at line 125 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setLinkPadding ( const std::map< std::string, double > & padding )

Set the link paddings using a map (from link names to padding value)

Definition at line 145 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setLinkScale	(	const std::string &	link_name,
		double	scale
	)

Set the scaling for a particular link.

Definition at line 164 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setLinkScale ( const std::map< std::string, double > & scale )

Set the link scaling using a map (from link names to scale value)

Definition at line 184 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setPadding ( double padding )

Set the link padding (for every link)

Definition at line 93 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setPadding ( const std::vector< moveit_msgs::LinkPadding > & padding )

Set the link padding from a vector of messages.

Definition at line 203 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setScale ( double scale )

Set the link scaling (for every link)

Definition at line 109 of file collision_robot.cpp.

void collision_detection::CollisionRobot::setScale ( const std::vector< moveit_msgs::LinkScale > & scale )

Set the link scaling from a vector of messages.

Definition at line 217 of file collision_robot.cpp.

void collision_detection::CollisionRobot::updatedPaddingOrScaling ( const std::vector< std::string > & links ) [protected, virtual]

When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.

Parameters:

links the names of the links whose padding or scaling were updated

Reimplemented in collision_detection::CollisionRobotFCL.

Definition at line 255 of file collision_robot.cpp.