#include <collision_world_hybrid.h>

Inheritance diagram for collision_detection::CollisionWorldHybrid:

Public Member Functions
void	checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const

void	checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const

void	checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const

void	checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const

void	checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const

void	checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const

void	checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const

void	checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionWorldHybrid (Eigen::Vector3d size=Eigen::Vector3d(3, 3, 4), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=false, double resolution=.02, double collision_tolerance=0.0, double max_propogation_distance=.25)

	CollisionWorldHybrid (const WorldPtr &world, Eigen::Vector3d size=Eigen::Vector3d(3, 3, 4), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=false, double resolution=.02, double collision_tolerance=0.0, double max_propogation_distance=.25)

	CollisionWorldHybrid (const CollisionWorldHybrid &other, const WorldPtr &world)

void	getAllCollisions (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const

void	getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const

const CollisionWorldDistanceFieldConstPtr	getCollisionWorldDistanceField () const

virtual void	setWorld (const WorldPtr &world)

virtual	~CollisionWorldHybrid ()

Public Member Functions inherited from collision_detection::CollisionWorldFCL
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...

	CollisionWorldFCL ()

	CollisionWorldFCL (const WorldPtr &world)

	CollisionWorldFCL (const CollisionWorldFCL &other, const WorldPtr &world)

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

virtual	~CollisionWorldFCL ()

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	~CollisionWorld ()

Protected Attributes
CollisionWorldDistanceFieldPtr	cworld_distance_

Protected Attributes inherited from collision_detection::CollisionWorldFCL
std::map< std::string, FCLObject >	fcl_objs_

std::unique_ptr< fcl::BroadPhaseCollisionManager >	manager_

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

typedef World::ObjectPtr	ObjectPtr

Protected Member Functions inherited from collision_detection::CollisionWorldFCL
void	checkRobotCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const

void	checkWorldCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const

void	constructFCLObject (const World::Object *obj, FCLObject &fcl_obj) const

void	updateFCLObject (const std::string &id)

Detailed Description

Definition at line 48 of file collision_world_hybrid.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorldHybrid::CollisionWorldHybrid	(	Eigen::Vector3d	size = `Eigen::Vector3d(3, 3, 4)`,
		Eigen::Vector3d	origin = `Eigen::Vector3d(0, 0, 0)`,
		bool	use_signed_distance_field = `false`,
		double	resolution = `.02`,
		double	collision_tolerance = `0.0`,
		double	max_propogation_distance = `.25`
	)

Definition at line 41 of file collision_world_hybrid.cpp.

collision_detection::CollisionWorldHybrid::CollisionWorldHybrid	(	const WorldPtr &	world,
		Eigen::Vector3d	size = `Eigen::Vector3d(3, 3, 4)`,
		Eigen::Vector3d	origin = `Eigen::Vector3d(0, 0, 0)`,
		bool	use_signed_distance_field = `false`,
		double	resolution = `.02`,
		double	collision_tolerance = `0.0`,
		double	max_propogation_distance = `.25`
	)

explicit

Definition at line 51 of file collision_world_hybrid.cpp.

collision_detection::CollisionWorldHybrid::CollisionWorldHybrid	(	const CollisionWorldHybrid &	other,
		const WorldPtr &	world
	)

Definition at line 60 of file collision_world_hybrid.cpp.

virtual collision_detection::CollisionWorldHybrid::~CollisionWorldHybrid ( )

inlinevirtual

Definition at line 64 of file collision_world_hybrid.h.

Member Function Documentation

void collision_detection::CollisionWorldHybrid::checkCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

Definition at line 67 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 74 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

Definition at line 82 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 90 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkRobotCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

Definition at line 99 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkRobotCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 106 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkRobotCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

Definition at line 114 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::checkRobotCollisionDistanceField	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 122 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::getAllCollisions	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 148 of file collision_world_hybrid.cpp.

void collision_detection::CollisionWorldHybrid::getCollisionGradients	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 140 of file collision_world_hybrid.cpp.

const CollisionWorldDistanceFieldConstPtr collision_detection::CollisionWorldHybrid::getCollisionWorldDistanceField ( ) const

inline

Definition at line 104 of file collision_world_hybrid.h.

void collision_detection::CollisionWorldHybrid::setWorld ( const WorldPtr & world )

virtual

set the world to use. This can be expensive unless the new and old world are empty. Passing NULL will result in a new empty world being created.

Reimplemented from collision_detection::CollisionWorldFCL.

Definition at line 131 of file collision_world_hybrid.cpp.

Member Data Documentation

CollisionWorldDistanceFieldPtr collision_detection::CollisionWorldHybrid::cworld_distance_

protected

Definition at line 110 of file collision_world_hybrid.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation