#include <collision_robot_distance_field.h>

Inheritance diagram for collision_detection::CollisionRobotDistanceField:

Public Member Functions
virtual void	checkOtherCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state) const
	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. More...

virtual void	checkOtherCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state, const collision_detection::AllowedCollisionMatrix &acm) const
	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. More...

virtual void	checkOtherCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state1, const moveit::core::RobotState &other_state2) const
	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. More...

virtual void	checkOtherCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state1, const moveit::core::RobotState &other_state2, const collision_detection::AllowedCollisionMatrix &acm) const
	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. More...

virtual void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state) const
	Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const

virtual void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...

void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const

virtual void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2) const
	Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const collision_detection::AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionRobotDistanceField (const robot_model::RobotModelConstPtr &kmodel)

	CollisionRobotDistanceField (const CollisionRobot &col_robot, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance, double padding)

	CollisionRobotDistanceField (const robot_model::RobotModelConstPtr &kmodel, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, 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, double padding=0.0, double scale=1.0)

	CollisionRobotDistanceField (const CollisionRobotDistanceField &other)

void	createCollisionModelMarker (const moveit::core::RobotState &state, visualization_msgs::MarkerArray &model_markers) const

virtual double	distanceOther (const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state) const

virtual double	distanceOther (const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state, const collision_detection::AllowedCollisionMatrix &acm) const

virtual void	distanceOther (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
	The distance to self-collision given the robot is at state state. More...

virtual double	distanceSelf (const moveit::core::RobotState &state) const

virtual double	distanceSelf (const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const

virtual void	distanceSelf (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const
	The distance to self-collision given the robot is at state state. More...

DistanceFieldCacheEntryConstPtr	getLastDistanceFieldEntry () const

void	initialize (const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)

Public Member Functions inherited from collision_detection::CollisionRobot
	CollisionRobot (const robot_model::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
	Constructor. More...

	CollisionRobot (const CollisionRobot &other)
	A copy constructor. More...

double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
	The distance to another robot instance. More...

double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const
	The distance to another robot instance, ignoring distances between links that are allowed to always collide. More...

double	distanceSelf (const robot_state::RobotState &state) const
	The distance to self-collision given the robot is at state state. More...

double	distanceSelf (const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	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) More...

double	getLinkPadding (const std::string &link_name) const
	Get the link padding for a particular link. More...

const std::map< std::string, double > &	getLinkPadding () const
	Get the link paddings as a map (from link names to padding value) More...

double	getLinkScale (const std::string &link_name) const
	Set the scaling for a particular link. More...

const std::map< std::string, double > &	getLinkScale () const
	Get the link scaling as a map (from link names to scale value) More...

void	getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const
	Get the link padding as a vector of messages. More...

const robot_model::RobotModelConstPtr &	getRobotModel () const
	The kinematic model corresponding to this collision model. More...

void	getScale (std::vector< moveit_msgs::LinkScale > &scale) const
	Get the link scaling as a vector of messages. More...

void	setLinkPadding (const std::string &link_name, double padding)
	Set the link padding for a particular link. More...

void	setLinkPadding (const std::map< std::string, double > &padding)
	Set the link paddings using a map (from link names to padding value) More...

void	setLinkScale (const std::string &link_name, double scale)
	Set the scaling for a particular link. More...

void	setLinkScale (const std::map< std::string, double > &scale)
	Set the link scaling using a map (from link names to scale value) More...

void	setPadding (double padding)
	Set the link padding (for every link) More...

void	setPadding (const std::vector< moveit_msgs::LinkPadding > &padding)
	Set the link padding from a vector of messages. More...

void	setScale (double scale)
	Set the link scaling (for every link) More...

void	setScale (const std::vector< moveit_msgs::LinkScale > &scale)
	Set the link scaling from a vector of messages. More...

virtual	~CollisionRobot ()

Protected Member Functions
void	addLinkBodyDecompositions (double resolution)

void	addLinkBodyDecompositions (double resolution, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions)

void	checkSelfCollisionHelper (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const

bool	compareCacheEntryToAllowedCollisionMatrix (const DistanceFieldCacheEntryConstPtr &dfce, const collision_detection::AllowedCollisionMatrix &acm) const

bool	compareCacheEntryToState (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state) const

void	generateCollisionCheckingStructures (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr, bool generate_distance_field) const

DistanceFieldCacheEntryPtr	generateDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, bool generate_distance_field) const

DistanceFieldCacheEntryConstPtr	getDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm) const

void	getGroupStateRepresentation (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const

bool	getIntraGroupCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const

bool	getIntraGroupProximityGradients (GroupStateRepresentationPtr &gsr) const

PosedBodyPointDecompositionPtr	getPosedLinkBodyPointDecomposition (const moveit::core::LinkModel *ls) const

PosedBodySphereDecompositionPtr	getPosedLinkBodySphereDecomposition (const moveit::core::LinkModel *ls, unsigned int ind) const

bool	getSelfCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const

bool	getSelfProximityGradients (GroupStateRepresentationPtr &gsr) const

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. More...

void	updateGroupStateRepresentationState (const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const

Protected Attributes
double	collision_tolerance_

DistanceFieldCacheEntryPtr	distance_field_cache_entry_

std::map< std::string, std::map< std::string, bool > >	in_group_update_map_

std::map< std::string, unsigned int >	link_body_decomposition_index_map_

std::vector< BodyDecompositionConstPtr >	link_body_decomposition_vector_

double	max_propogation_distance_

Eigen::Vector3d	origin_

planning_scene::PlanningScenePtr	planning_scene_

std::map< std::string, GroupStateRepresentationPtr >	pregenerated_group_state_representation_map_

double	resolution_

Eigen::Vector3d	size_

boost::mutex	update_cache_lock_

bool	use_signed_distance_field_

Protected Attributes inherited from collision_detection::CollisionRobot
std::map< std::string, double >	link_padding_
	The internally maintained map (from link names to padding) More...

std::map< std::string, double >	link_scale_
	The internally maintained map (from link names to scaling) More...

robot_model::RobotModelConstPtr	robot_model_
	The kinematic model corresponding to this collision model. More...

Friends
class	CollisionWorldDistanceField

Detailed Description

Definition at line 59 of file collision_robot_distance_field.h.

Constructor & Destructor Documentation

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const robot_model::RobotModelConstPtr & kmodel )

Definition at line 49 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField	(	const CollisionRobot &	col_robot,
		const Eigen::Vector3d &	size,
		const Eigen::Vector3d &	origin,
		bool	use_signed_distance_field,
		double	resolution,
		double	collision_tolerance,
		double	max_propogation_distance,
		double	padding
	)

Definition at line 72 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField	(	const robot_model::RobotModelConstPtr &	kmodel,
		const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions,
		double	size_x = `DEFAULT_SIZE_X`,
		double	size_y = `DEFAULT_SIZE_Y`,
		double	size_z = `DEFAULT_SIZE_Z`,
		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`,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Definition at line 61 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const CollisionRobotDistanceField & other )

Definition at line 84 of file collision_robot_distance_field.cpp.

Member Function Documentation

void collision_detection::CollisionRobotDistanceField::addLinkBodyDecompositions ( double resolution )

protected

Definition at line 952 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::addLinkBodyDecompositions	(	double	resolution,
		const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions
	)

protected

Definition at line 1040 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state
	)		const

inlinevirtual

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

Implements collision_detection::CollisionRobot.

Definition at line 118 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inlinevirtual

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.

Implements collision_detection::CollisionRobot.

Definition at line 125 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state1,
		const moveit::core::RobotState &	other_state2
	)		const

inlinevirtual

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)

Implements collision_detection::CollisionRobot.

Definition at line 133 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state1,
		const moveit::core::RobotState &	other_state2,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inlinevirtual

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.

Implements collision_detection::CollisionRobot.

Definition at line 142 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state
	)		const

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

Implements collision_detection::CollisionRobot.

Definition at line 210 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 218 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

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.

Implements collision_detection::CollisionRobot.

Definition at line 226 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 235 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2
	)		const

inlinevirtual

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

Implements collision_detection::CollisionRobot.

Definition at line 103 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inlinevirtual

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.

Implements collision_detection::CollisionRobot.

Definition at line 110 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::checkSelfCollisionHelper	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

protected

Definition at line 154 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

protected

Definition at line 1305 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::compareCacheEntryToState	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const moveit::core::RobotState &	state
	)		const

protected

Definition at line 1245 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::createCollisionModelMarker	(	const moveit::core::RobotState &	state,
		visualization_msgs::MarkerArray &	model_markers
	)		const

Definition at line 972 of file collision_robot_distance_field.cpp.

virtual double collision_detection::CollisionRobotDistanceField::distanceOther	(	const moveit::core::RobotState &	state,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state
	)		const

inlinevirtual

Definition at line 164 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceOther	(	const moveit::core::RobotState &	state,
		const CollisionRobot &	other_robot,
		const moveit::core::RobotState &	other_state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inlinevirtual

Definition at line 169 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::distanceOther	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const

inlinevirtual

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

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
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

Implements collision_detection::CollisionRobot.

Definition at line 181 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceSelf ( const moveit::core::RobotState & state ) const

inlinevirtual

Definition at line 155 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceSelf	(	const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

inlinevirtual

Definition at line 159 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::distanceSelf	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const robot_state::RobotState &	state
	)		const

inlinevirtual

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

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
state	The state of this robot to consider

Implements collision_detection::CollisionRobot.

Definition at line 176 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::generateCollisionCheckingStructures	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr,
		bool	generate_distance_field
	)		const

protected

Definition at line 135 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryPtr collision_detection::CollisionRobotDistanceField::generateDistanceFieldCacheEntry	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	generate_distance_field
	)		const

protected

Definition at line 700 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryConstPtr collision_detection::CollisionRobotDistanceField::getDistanceFieldCacheEntry	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 179 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::getGroupStateRepresentation	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

protected

std::cerr << "Attached " << dfce->attached_body_names_[i] << " index " << dfce->attached_body_link_state_indices_[i] << std::endl;

Definition at line 1147 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getIntraGroupCollisions	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		GroupStateRepresentationPtr &	gsr
	)		const

protected

Definition at line 405 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getIntraGroupProximityGradients ( GroupStateRepresentationPtr & gsr ) const

protected

Definition at line 634 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryConstPtr collision_detection::CollisionRobotDistanceField::getLastDistanceFieldEntry ( ) const

inline

Definition at line 187 of file collision_robot_distance_field.h.

PosedBodyPointDecompositionPtr collision_detection::CollisionRobotDistanceField::getPosedLinkBodyPointDecomposition ( const moveit::core::LinkModel * ls ) const

protected

Definition at line 1080 of file collision_robot_distance_field.cpp.

PosedBodySphereDecompositionPtr collision_detection::CollisionRobotDistanceField::getPosedLinkBodySphereDecomposition	(	const moveit::core::LinkModel *	ls,
		unsigned int	ind
	)		const

protected

Definition at line 1071 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getSelfCollisions	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		GroupStateRepresentationPtr &	gsr
	)		const

protected

Definition at line 249 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getSelfProximityGradients ( GroupStateRepresentationPtr & gsr ) const

protected

Definition at line 330 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::initialize	(	const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions,
		const Eigen::Vector3d &	size,
		const Eigen::Vector3d &	origin,
		bool	use_signed_distance_field,
		double	resolution,
		double	collision_tolerance,
		double	max_propogation_distance
	)

Definition at line 101 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::updatedPaddingOrScaling ( const std::vector< std::string > & links )

inlineprotectedvirtual

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 from collision_detection::CollisionRobot.

Definition at line 250 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::updateGroupStateRepresentationState	(	const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

protected

Definition at line 1093 of file collision_robot_distance_field.cpp.

Friends And Related Function Documentation

friend class CollisionWorldDistanceField

friend

Definition at line 61 of file collision_robot_distance_field.h.

Member Data Documentation

double collision_detection::CollisionRobotDistanceField::collision_tolerance_

protected

Definition at line 256 of file collision_robot_distance_field.h.

DistanceFieldCacheEntryPtr collision_detection::CollisionRobotDistanceField::distance_field_cache_entry_

protected

Definition at line 263 of file collision_robot_distance_field.h.

std::map<std::string, std::map<std::string, bool> > collision_detection::CollisionRobotDistanceField::in_group_update_map_

protected

Definition at line 264 of file collision_robot_distance_field.h.

std::map<std::string, unsigned int> collision_detection::CollisionRobotDistanceField::link_body_decomposition_index_map_

protected

Definition at line 260 of file collision_robot_distance_field.h.

std::vector<BodyDecompositionConstPtr> collision_detection::CollisionRobotDistanceField::link_body_decomposition_vector_

protected

Definition at line 259 of file collision_robot_distance_field.h.

double collision_detection::CollisionRobotDistanceField::max_propogation_distance_

protected

Definition at line 257 of file collision_robot_distance_field.h.

Eigen::Vector3d collision_detection::CollisionRobotDistanceField::origin_

protected

Definition at line 253 of file collision_robot_distance_field.h.

planning_scene::PlanningScenePtr collision_detection::CollisionRobotDistanceField::planning_scene_

protected

Definition at line 267 of file collision_robot_distance_field.h.

std::map<std::string, GroupStateRepresentationPtr> collision_detection::CollisionRobotDistanceField::pregenerated_group_state_representation_map_

protected

Definition at line 265 of file collision_robot_distance_field.h.

double collision_detection::CollisionRobotDistanceField::resolution_

protected

Definition at line 255 of file collision_robot_distance_field.h.

Eigen::Vector3d collision_detection::CollisionRobotDistanceField::size_

protected

Definition at line 250 of file collision_robot_distance_field.h.

boost::mutex collision_detection::CollisionRobotDistanceField::update_cache_lock_

mutableprotected

Definition at line 262 of file collision_robot_distance_field.h.

bool collision_detection::CollisionRobotDistanceField::use_signed_distance_field_

protected

Definition at line 254 of file collision_robot_distance_field.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation