collision_robot_allvalid.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
38 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_ROBOT_ALLVALID_
39 
41 
42 namespace collision_detection
43 {
45 {
46 public:
47  CollisionRobotAllValid(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);
49 
50  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
51  const robot_state::RobotState& state) const;
52  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
53  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
54  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
55  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
56  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
57  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
58  const AllowedCollisionMatrix& acm) const;
59 
60  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
61  const robot_state::RobotState& state, const CollisionRobot& other_robot,
62  const robot_state::RobotState& other_state) const;
63  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
64  const robot_state::RobotState& state, const CollisionRobot& other_robot,
65  const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
66  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
67  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
68  const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
69  const robot_state::RobotState& other_state2) const;
70  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
71  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
72  const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
73  const robot_state::RobotState& other_state2,
74  const AllowedCollisionMatrix& acm) const;
75 
76  virtual double distanceSelf(const robot_state::RobotState& state) const;
77  virtual double distanceSelf(const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
78  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
79  const robot_state::RobotState& state) const override;
80 
81  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
82  const robot_state::RobotState& other_state) const;
83  virtual double distanceOther(const robot_state::RobotState& state, const CollisionRobot& other_robot,
84  const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
85  virtual void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
86  const CollisionRobot& other_robot,
87  const robot_state::RobotState& other_state) const override;
88 };
89 }
90 
91 #endif
virtual double distanceOther(const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
Generic interface to collision detection.
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)...
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
CollisionRobotAllValid(const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)
This class represents a collision model of the robot and can be used for self collision checks (to ch...
virtual double distanceSelf(const robot_state::RobotState &state) const
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 i...
Representation of a robot's state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 18 2020 13:16:33