#include <collision_world_fcl.h>

Inheritance diagram for collision_detection::CollisionWorldFCL:

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_

Detailed Description

Definition at line 46 of file collision_world_fcl.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorldFCL::CollisionWorldFCL ( )

Definition at line 44 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 65 of file collision_world_fcl.cpp.

collision_detection::CollisionWorldFCL::~CollisionWorldFCL ( ) [virtual]

Definition at line 81 of file collision_world_fcl.cpp.

Member Function Documentation

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.

Parameters:

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 86 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.

Parameters:

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 93 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.

Parameters:

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 101 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.

Parameters:

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 109 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 118 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.

Parameters:

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 137 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.

Parameters:

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 143 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 150 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::constructFCLObject	(	const World::Object *	obj,
		FCLObject &	fcl_obj
	)		const `[protected]`

Definition at line 163 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.

Parameters:

robot	The robot to check distance for
state	The state for the robot to check distances from

Implements collision_detection::CollisionWorld.

Definition at line 274 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.

Parameters:

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 280 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 255 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 287 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 292 of file collision_world_fcl.cpp.

double collision_detection::CollisionWorldFCL::distanceWorldHelper	(	const CollisionWorld &	world,
		const AllowedCollisionMatrix *	acm
	)		const `[protected]`

Definition at line 298 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 234 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 212 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::updateFCLObject ( const std::string & id ) [protected]

Definition at line 177 of file collision_world_fcl.cpp.

Member Data Documentation

std::map<std::string, FCLObject> collision_detection::CollisionWorldFCL::fcl_objs_ [protected]

Definition at line 89 of file collision_world_fcl.h.

boost::scoped_ptr<fcl::BroadPhaseCollisionManager> collision_detection::CollisionWorldFCL::manager_ [protected]

Definition at line 88 of file collision_world_fcl.h.

World::ObserverHandle collision_detection::CollisionWorldFCL::observer_handle_ [private]

Definition at line 94 of file collision_world_fcl.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation