#include <collision_scene_fcl_latest.h>

Inheritance diagram for exotica::CollisionSceneFCLLatest:

[legend]

Classes
struct	CollisionData

struct	DistanceData

Public Member Functions
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) override
	Performs a continuous collision check between two objects with a linear interpolation between two given. More...

std::vector< CollisionProxy >	GetCollisionDistance (bool self) override
	Computes collision distances. More...

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

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

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

std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const bool &self=true, const bool &disable_collision_scene_update=false) override

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

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

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

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

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

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

bool	get_replace_cylinders_with_capsules () const

bool	GetAlwaysExternallyUpdatedCollisionScene () const

bool	GetReplacePrimitiveShapesWithMeshes () const

double	GetRobotLinkPadding () const

double	GetRobotLinkScale () const

double	GetWorldLinkPadding () const

double	GetWorldLinkScale () const

virtual void	InstantiateBase (const Initializer &init)

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::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const

virtual	~Object ()

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

	~Uncopyable ()=default

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

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< CollisionSceneFCLLatestInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const CollisionSceneFCLLatestInitializer &	GetParameters () const

virtual void	Instantiate (const CollisionSceneFCLLatestInitializer &init)

void	InstantiateInternal (const Initializer &init) override

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

static bool	CollisionCallbackDistance (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data, double &dist)

static bool	IsAllowedToCollide (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, bool self, CollisionSceneFCLLatest *scene)

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

std::vector< fcl::CollisionObjectd * >	GetCollisionObjectsFromMapByName (const std::string &frame_name)

std::shared_ptr< KinematicElement >	GetKinematicElementFromMapByName (const std::string &frame_name)

std::vector< fcl::CollisionObjectd * >	GetRobotCollisionObjectsFromMapByName (const std::string &frame_name)

std::vector< fcl::CollisionObjectd * >	GetWorldCollisionObjectsFromMapByName (const std::string &frame_name)

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

static void	ComputeDistance (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, DistanceData *data)

Private Attributes
std::shared_ptr< fcl::BroadPhaseCollisionManagerd >	broad_phase_collision_manager_

std::vector< std::shared_ptr< fcl::CollisionObjectd > >	fcl_cache_

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

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_objects_map_

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_robot_objects_map_

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_world_objects_map_

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

std::map< std::string, std::weak_ptr< KinematicElement > >	kinematic_elements_map_

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

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

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_

std::string	robot_link_replacement_config_

double	robot_link_scale_

std::weak_ptr< Scene >	scene_

double	world_link_padding_

double	world_link_scale_

Protected Attributes inherited from exotica::Instantiable< CollisionSceneFCLLatestInitializer >
CollisionSceneFCLLatestInitializer	parameters_

Detailed Description

Definition at line 44 of file collision_scene_fcl_latest.h.

Member Function Documentation

void exotica::CollisionSceneFCLLatest::CheckCollision	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		CollisionData *	data
	)

staticprivate

Definition at line 320 of file collision_scene_fcl_latest.cpp.

bool exotica::CollisionSceneFCLLatest::CollisionCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

static

Definition at line 337 of file collision_scene_fcl_latest.cpp.

bool exotica::CollisionSceneFCLLatest::CollisionCallbackDistance	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data,
		double &	dist
	)

static

Definition at line 529 of file collision_scene_fcl_latest.cpp.

void exotica::CollisionSceneFCLLatest::ComputeDistance	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		DistanceData *	data
	)

staticprivate

Definition at line 347 of file collision_scene_fcl_latest.cpp.

std::shared_ptr< fcl::CollisionObjectd > exotica::CollisionSceneFCLLatest::ConstructFclCollisionObject	(	long	i,
		std::shared_ptr< KinematicElement >	element
	)

private

Definition at line 160 of file collision_scene_fcl_latest.cpp.

ContinuousCollisionProxy exotica::CollisionSceneFCLLatest::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
	)

overridevirtual

Performs a continuous collision check between two objects with a linear interpolation between two given.

Parameters

[in]	o1	The first collision object, by name.
[in]	tf1_beg	The beginning transform for o1.
[in]	tf1_end	The end transform for o1.
[in]	o2	The second collision object, by name.
[in]	tf2_beg	The beginning transform for o2.
[in]	tf2_end	The end transform for o2.

Returns: ContinuousCollisionProxy.

Reimplemented from exotica::CollisionScene.

Definition at line 764 of file collision_scene_fcl_latest.cpp.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetCollisionDistance ( bool self )

overridevirtual

Computes collision distances.

Parameters

self	Indicate if self collision check is required.

Returns: Collision proximity objects for all colliding pairs of objects.

Reimplemented from exotica::CollisionScene.

Definition at line 579 of file collision_scene_fcl_latest.cpp.

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

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 589 of file collision_scene_fcl_latest.cpp.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self = `true`
	)

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 617 of file collision_scene_fcl_latest.cpp.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::vector< std::string > &	objects,
		const bool &	self = `true`
	)

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 677 of file collision_scene_fcl_latest.cpp.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self = `true`,
		const bool &	disable_collision_scene_update = `false`
	)

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 622 of file collision_scene_fcl_latest.cpp.

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

Definition at line 162 of file collision_scene_fcl_latest.h.

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

overridevirtual

Gets the collision robot links.

Returns: The collision robot links.

Implements exotica::CollisionScene.

Definition at line 759 of file collision_scene_fcl_latest.cpp.

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

overridevirtual

Gets the collision world links.

Returns: The collision world links.

Implements exotica::CollisionScene.

Definition at line 754 of file collision_scene_fcl_latest.cpp.

std::shared_ptr<KinematicElement> exotica::CollisionSceneFCLLatest::GetKinematicElementFromMapByName ( const std::string & frame_name )

inlineprivate

Definition at line 138 of file collision_scene_fcl_latest.h.

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetRobotCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

Definition at line 146 of file collision_scene_fcl_latest.h.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetRobotToRobotCollisionDistance ( double check_margin )

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 688 of file collision_scene_fcl_latest.cpp.

std::vector< CollisionProxy > exotica::CollisionSceneFCLLatest::GetRobotToWorldCollisionDistance ( double check_margin )

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 718 of file collision_scene_fcl_latest.cpp.

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

overridevirtual

Implements exotica::CollisionScene.

Definition at line 748 of file collision_scene_fcl_latest.cpp.

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetWorldCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

Definition at line 154 of file collision_scene_fcl_latest.h.

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

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 270 of file collision_scene_fcl_latest.cpp.

bool exotica::CollisionSceneFCLLatest::IsAllowedToCollide	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		bool	self,
		CollisionSceneFCLLatest *	scene
	)

static

Definition at line 295 of file collision_scene_fcl_latest.cpp.

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

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 549 of file collision_scene_fcl_latest.cpp.

bool exotica::CollisionSceneFCLLatest::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 538 of file collision_scene_fcl_latest.cpp.

void exotica::CollisionSceneFCLLatest::Setup ( )

overridevirtual

Reimplemented from exotica::CollisionScene.

Definition at line 66 of file collision_scene_fcl_latest.cpp.

void exotica::CollisionSceneFCLLatest::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 73 of file collision_scene_fcl_latest.cpp.

void exotica::CollisionSceneFCLLatest::UpdateCollisionObjectTransforms ( )

overridevirtual

Updates collision object transformations from the kinematic tree.

Implements exotica::CollisionScene.

Definition at line 132 of file collision_scene_fcl_latest.cpp.

Member Data Documentation

std::shared_ptr<fcl::BroadPhaseCollisionManagerd> exotica::CollisionSceneFCLLatest::broad_phase_collision_manager_

private

Definition at line 122 of file collision_scene_fcl_latest.h.

std::vector<std::shared_ptr<fcl::CollisionObjectd> > exotica::CollisionSceneFCLLatest::fcl_cache_

private

Definition at line 129 of file collision_scene_fcl_latest.h.

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::fcl_objects_

private

Definition at line 128 of file collision_scene_fcl_latest.h.

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_objects_map_

private

Definition at line 134 of file collision_scene_fcl_latest.h.

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_robot_objects_map_

private

Definition at line 135 of file collision_scene_fcl_latest.h.

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_world_objects_map_

private

Definition at line 136 of file collision_scene_fcl_latest.h.

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

private

Definition at line 130 of file collision_scene_fcl_latest.h.

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::CollisionSceneFCLLatest::kinematic_elements_map_

private

Definition at line 131 of file collision_scene_fcl_latest.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