#include <collision_scene_fcl.h>

Inheritance diagram for exotica::CollisionSceneFCL:

Classes
struct	CollisionData

Public Member Functions
std::vector< std::string >	GetCollisionRobotLinks () override
	Gets the collision robot links. More...

std::vector< std::string >	GetCollisionWorldLinks () override
	Gets the collision world links. More...

Eigen::Vector3d	GetTranslation (const std::string &name) override

bool	IsCollisionFree (const std::string &o1, const std::string &o2, double safe_distance=0.0) override

bool	IsStateValid (bool self=true, double safe_distance=0.0) override
	Check if the whole robot is valid (collision only). More...

void	Setup () override

void	UpdateCollisionObjects (const std::map< std::string, std::weak_ptr< KinematicElement >> &objects) override
	Creates the collision scene from kinematic elements. More...

void	UpdateCollisionObjectTransforms () override
	Updates collision object transformations from the kinematic tree. More...

Public Member Functions inherited from exotica::CollisionScene
void	AssignScene (std::shared_ptr< Scene > scene)

	CollisionScene ()

virtual std::vector< ContinuousCollisionProxy >	ContinuousCollisionCast (const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> &motion_transforms)

virtual ContinuousCollisionProxy	ContinuousCollisionCheck (const std::string &o1, const KDL::Frame &tf1_beg, const KDL::Frame &tf1_end, const std::string &o2, const KDL::Frame &tf2_beg, const KDL::Frame &tf2_end)

bool	get_replace_cylinders_with_capsules () const

bool	GetAlwaysExternallyUpdatedCollisionScene () const

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const std::string &o2)

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const bool &self)

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const bool &self, const bool &disable_collision_scene_update)

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::vector< std::string > &objects, const bool &self)

virtual std::vector< CollisionProxy >	GetCollisionDistance (bool self)

bool	GetReplacePrimitiveShapesWithMeshes () const

double	GetRobotLinkPadding () const

double	GetRobotLinkScale () const

virtual std::vector< CollisionProxy >	GetRobotToRobotCollisionDistance (double check_margin)

virtual std::vector< CollisionProxy >	GetRobotToWorldCollisionDistance (double check_margin)

double	GetWorldLinkPadding () const

double	GetWorldLinkScale () const

virtual bool	IsAllowedToCollide (const std::string &o1, const std::string &o2, const bool &self)

void	set_replace_cylinders_with_capsules (const bool value)

void	SetACM (const AllowedCollisionMatrix &acm)

void	SetAlwaysExternallyUpdatedCollisionScene (const bool value)

void	SetReplacePrimitiveShapesWithMeshes (const bool value)

void	SetRobotLinkPadding (const double padding)

void	SetRobotLinkScale (const double scale)

void	SetWorldLinkPadding (const double padding)

void	SetWorldLinkScale (const double scale)

virtual	~CollisionScene ()

Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Static Public Member Functions
static bool	CollisionCallback (fcl::CollisionObject o1, fcl::CollisionObject o2, void *data)

static bool	IsAllowedToCollide (fcl::CollisionObject o1, fcl::CollisionObject o2, bool self, CollisionSceneFCL *scene)

Private Member Functions
std::shared_ptr< fcl::CollisionObject >	ConstructFclCollisionObject (long i, std::shared_ptr< KinematicElement > element)

Static Private Member Functions
static void	CheckCollision (fcl::CollisionObject o1, fcl::CollisionObject o2, CollisionData *data)

Private Attributes
std::map< std::string, std::shared_ptr< fcl::CollisionObject > >	fcl_cache_

std::vector< fcl::CollisionObject * >	fcl_objects_

std::vector< std::weak_ptr< KinematicElement > >	kinematic_elements_

Additional Inherited Members
Public Attributes inherited from exotica::CollisionScene
bool	debug_

Protected Attributes inherited from exotica::CollisionScene
AllowedCollisionMatrix	acm_

bool	always_externally_updated_collision_scene_

bool	needs_update_of_collision_objects_

bool	replace_cylinders_with_capsules_

bool	replace_primitive_shapes_with_meshes_

double	robot_link_padding_

double	robot_link_scale_

std::weak_ptr< Scene >	scene_

double	world_link_padding_

double	world_link_scale_

Detailed Description

Definition at line 49 of file collision_scene_fcl.h.

Member Function Documentation

void exotica::CollisionSceneFCL::CheckCollision	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		CollisionData *	data
	)

staticprivate

Definition at line 230 of file collision_scene_fcl.cpp.

bool exotica::CollisionSceneFCL::CollisionCallback	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		void *	data
	)

static

Definition at line 246 of file collision_scene_fcl.cpp.

std::shared_ptr< fcl::CollisionObject > exotica::CollisionSceneFCL::ConstructFclCollisionObject	(	long	i,
		std::shared_ptr< KinematicElement >	element
	)

private

Definition at line 95 of file collision_scene_fcl.cpp.

std::vector< std::string > exotica::CollisionSceneFCL::GetCollisionRobotLinks ( )

overridevirtual

Gets the collision robot links.

Returns: The collision robot links.

Implements exotica::CollisionScene.

Definition at line 323 of file collision_scene_fcl.cpp.

std::vector< std::string > exotica::CollisionSceneFCL::GetCollisionWorldLinks ( )

overridevirtual

Gets the collision world links.

Returns: The collision world links.

Implements exotica::CollisionScene.

Definition at line 309 of file collision_scene_fcl.cpp.

Eigen::Vector3d exotica::CollisionSceneFCL::GetTranslation ( const std::string & name )

overridevirtual

Implements exotica::CollisionScene.

Definition at line 296 of file collision_scene_fcl.cpp.

bool exotica::CollisionSceneFCL::IsAllowedToCollide	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		bool	self,
		CollisionSceneFCL *	scene
	)

static

Definition at line 205 of file collision_scene_fcl.cpp.

bool exotica::CollisionSceneFCL::IsCollisionFree	(	const std::string &	o1,
		const std::string &	o2,
		double	safe_distance = `0.0`
	)

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 269 of file collision_scene_fcl.cpp.

bool exotica::CollisionSceneFCL::IsStateValid	(	bool	self = `true`,
		double	safe_distance = `0.0`
	)

overridevirtual

Check if the whole robot is valid (collision only).

Parameters

self	Indicate if self collision check is required.

Returns: True, if the state is collision free..

Implements exotica::CollisionScene.

Definition at line 256 of file collision_scene_fcl.cpp.

void exotica::CollisionSceneFCL::Setup ( )

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 47 of file collision_scene_fcl.cpp.

void exotica::CollisionSceneFCL::UpdateCollisionObjects ( const std::map< std::string, std::weak_ptr< KinematicElement >> & objects )

overridevirtual

Creates the collision scene from kinematic elements.

Parameters

objects Vector kinematic element pointers of collision objects.

Implements exotica::CollisionScene.

Definition at line 52 of file collision_scene_fcl.cpp.

void exotica::CollisionSceneFCL::UpdateCollisionObjectTransforms ( )

overridevirtual

Updates collision object transformations from the kinematic tree.

Implements exotica::CollisionScene.

Definition at line 79 of file collision_scene_fcl.cpp.

Member Data Documentation

std::map<std::string, std::shared_ptr<fcl::CollisionObject> > exotica::CollisionSceneFCL::fcl_cache_

private

Definition at line 94 of file collision_scene_fcl.h.

std::vector<fcl::CollisionObject*> exotica::CollisionSceneFCL::fcl_objects_

private

Definition at line 96 of file collision_scene_fcl.h.

std::vector<std::weak_ptr<KinematicElement> > exotica::CollisionSceneFCL::kinematic_elements_

private

Definition at line 97 of file collision_scene_fcl.h.

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

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation