#include <collision_world_allvalid.h>

Inheritance diagram for collision_detection::CollisionWorldAllValid:

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. More...

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. More...

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. More...

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. More...

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. More...

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. More...

	CollisionWorldAllValid ()

	CollisionWorldAllValid (const WorldPtr &world)

	CollisionWorldAllValid (const CollisionWorld &other, const WorldPtr &world)

virtual double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state) const

virtual double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const

virtual void	distanceRobot (const DistanceRequest &req, DistanceResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const override
	Compute the distance between a robot and the world. More...

virtual double	distanceWorld (const CollisionWorld &world) const

virtual double	distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm) const

virtual void	distanceWorld (const DistanceRequest &req, DistanceResult &res, const CollisionWorld &world) const override
	Compute the distance between another world. More...

Public Member Functions inherited from collision_detection::CollisionWorld
virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
	Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkCollision (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 itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account. More...

virtual void	checkCollision (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 itself or the world in a continuous manner (between two robot states) Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkCollision (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 itself or the world in a continuous manner (between two robot states). Allowed collisions specified by the allowed collision matrix are taken into account. More...

	CollisionWorld ()

	CollisionWorld (const WorldPtr &world)

	CollisionWorld (const CollisionWorld &other, const WorldPtr &world)
	A copy constructor. other should not be changed while the copy constructor is running. world must be the same world as used by other or a (not-yet-modified) copy of the world used by other. More...

double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...

double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...

double	distanceWorld (const CollisionWorld &world, bool verbose=false) const
	The shortest distance to another world instance (world) More...

double	distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm, bool verbose=false) const
	The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm) More...

const WorldPtr &	getWorld ()

const WorldConstPtr &	getWorld () const

virtual void	setWorld (const WorldPtr &world)

virtual	~CollisionWorld ()

Additional Inherited Members
Public Types inherited from collision_detection::CollisionWorld
typedef World::ObjectConstPtr	ObjectConstPtr

typedef World::ObjectPtr	ObjectPtr

Detailed Description

Definition at line 46 of file collision_world_allvalid.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid ( )

Definition at line 39 of file collision_world_allvalid.cpp.

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid ( const WorldPtr & world )

explicit

Definition at line 43 of file collision_world_allvalid.cpp.

collision_detection::CollisionWorldAllValid::CollisionWorldAllValid	(	const CollisionWorld &	other,
		const WorldPtr &	world
	)

Definition at line 47 of file collision_world_allvalid.cpp.

Member Function Documentation

void collision_detection::CollisionWorldAllValid::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 52 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::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 61 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::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 71 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::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 81 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::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 92 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::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 100 of file collision_world_allvalid.cpp.

double collision_detection::CollisionWorldAllValid::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

virtual

Definition at line 109 of file collision_world_allvalid.cpp.

double collision_detection::CollisionWorldAllValid::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Definition at line 115 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::distanceRobot	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

overridevirtual

Compute the distance between a robot and the world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
robot	The robot to check distance for
state	The state for the robot to check distances from

Implements collision_detection::CollisionWorld.

Definition at line 122 of file collision_world_allvalid.cpp.

double collision_detection::CollisionWorldAllValid::distanceWorld ( const CollisionWorld & world ) const

virtual

Definition at line 130 of file collision_world_allvalid.cpp.

double collision_detection::CollisionWorldAllValid::distanceWorld	(	const CollisionWorld &	world,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Definition at line 135 of file collision_world_allvalid.cpp.

void collision_detection::CollisionWorldAllValid::distanceWorld	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const CollisionWorld &	world
	)		const

overridevirtual

Compute the distance between another world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
world	The world to check distance for

Implements collision_detection::CollisionWorld.

Definition at line 141 of file collision_world_allvalid.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation