#include <collision_robot_fcl.h>

Inheritance diagram for collision_detection::CollisionRobotFCL:

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
	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 CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const 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 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
	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 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
	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 CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const
	Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored. More...

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

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

	CollisionRobotFCL (const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)

	CollisionRobotFCL (const CollisionRobotFCL &other)

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

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

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	allocSelfCollisionBroadPhase (const robot_state::RobotState &state, FCLManager &manager) const

void	checkOtherCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const

void	checkSelfCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const

void	constructFCLObject (const robot_state::RobotState &state, FCLObject &fcl_obj) const

void	getAttachedBodyObjects (const robot_state::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) 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...

Protected Attributes
std::vector< FCLCollisionObjectConstPtr >	fcl_objs_

std::vector< FCLGeometryConstPtr >	geoms_

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	CollisionWorldFCL

Detailed Description

Definition at line 44 of file collision_robot_fcl.h.

Constructor & Destructor Documentation

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

Definition at line 41 of file collision_robot_fcl.cpp.

collision_detection::CollisionRobotFCL::CollisionRobotFCL ( const CollisionRobotFCL & other )

Definition at line 71 of file collision_robot_fcl.cpp.

Member Function Documentation

void collision_detection::CollisionRobotFCL::allocSelfCollisionBroadPhase	(	const robot_state::RobotState &	state,
		FCLManager &	manager
	)		const

protected

Definition at line 127 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const

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

Implements collision_detection::CollisionRobot.

Definition at line 186 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::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

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.

Implements collision_detection::CollisionRobot.

Definition at line 193 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::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

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)

Implements collision_detection::CollisionRobot.

Definition at line 201 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::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

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.

Implements collision_detection::CollisionRobot.

Definition at line 210 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 220 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::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 137 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const 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 143 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const

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

Implements collision_detection::CollisionRobot.

Definition at line 150 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const 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
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 157 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 164 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::constructFCLObject	(	const robot_state::RobotState &	state,
		FCLObject &	fcl_obj
	)		const

protected

Definition at line 89 of file collision_robot_fcl.cpp.

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

overridevirtual

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 286 of file collision_robot_fcl.cpp.

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

overridevirtual

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 276 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::getAttachedBodyObjects	(	const robot_state::AttachedBody *	ab,
		std::vector< FCLGeometryConstPtr > &	geoms
	)		const

protected

Definition at line 77 of file collision_robot_fcl.cpp.

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

protectedvirtual

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 251 of file collision_robot_fcl.cpp.

Friends And Related Function Documentation

friend class CollisionWorldFCL

friend

Definition at line 46 of file collision_robot_fcl.h.

Member Data Documentation

std::vector<FCLCollisionObjectConstPtr> collision_detection::CollisionRobotFCL::fcl_objs_

protected

Definition at line 99 of file collision_robot_fcl.h.

std::vector<FCLGeometryConstPtr> collision_detection::CollisionRobotFCL::geoms_

protected

Definition at line 98 of file collision_robot_fcl.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