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static bool | andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, Contact &contact) |
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void | cleanCollisionGeometryCache () |
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bool | collisionCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data) |
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void | contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg) |
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void | costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link, int shape_index) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_model::LinkModel *link, int shape_index) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index) |
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FCLGeometryConstPtr | createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index) |
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std::vector< CollisionSphere > | determineCollisionSpheres (const bodies::Body *body, Eigen::Affine3d &relativeTransform) |
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bool | distanceCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data, double &min_dist) |
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bool | doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2) |
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void | fcl2contact (const fcl::Contact &fc, Contact &c) |
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void | fcl2costsource (const fcl::CostSource &fcs, CostSource &cs) |
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PosedBodyPointDecompositionVectorPtr | getAttachedBodyPointDecomposition (const robot_state::AttachedBody *att, double resolution) |
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PosedBodySphereDecompositionVectorPtr | getAttachedBodySphereDecomposition (const robot_state::AttachedBody *att, double resolution) |
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BodyDecompositionCache & | getBodyDecompositionCache () |
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BodyDecompositionConstPtr | getBodyDecompositionCacheEntry (const shapes::ShapeConstPtr &shape, double resolution) |
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void | getBodySphereVisualizationMarkers (GroupStateRepresentationConstPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array) |
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void | getBodySphereVisualizationMarkers (GroupStateRepresentationPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array) |
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void | getCollisionMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr) |
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void | getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035) |
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void | getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con) |
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PosedBodyPointDecompositionVectorPtr | getCollisionObjectPointDecomposition (const collision_detection::World::Object &obj, double resolution) |
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bool | getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance) |
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bool | getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance, unsigned int num_coll, std::vector< unsigned int > &colls) |
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bool | getCollisionSphereGradients (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, GradientInfo &gradient, const CollisionType &type, double tolerance, bool subtract_radii, double maximum_value, bool stop_at_first_collision) |
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void | getCollisionSphereMarkers (const std_msgs::ColorRGBA &color, const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, visualization_msgs::MarkerArray &arr) |
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void | getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources) |
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void | getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime) |
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void | getProximityGradientMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr) |
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bool | getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources) |
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FCLShapeCache & | GetShapeCache () |
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double | getTotalCost (const std::set< CostSource > &cost_sources) |
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void | intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b) |
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| MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator) |
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| MOVEIT_CLASS_FORWARD (CollisionRobot) |
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| MOVEIT_CLASS_FORWARD (WorldDiff) |
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| MOVEIT_CLASS_FORWARD (CollisionPlugin) |
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| MOVEIT_CLASS_FORWARD (CollisionWorld) |
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| MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix) |
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| MOVEIT_CLASS_FORWARD (World) |
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| MOVEIT_CLASS_FORWARD (GroupStateRepresentation) |
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| MOVEIT_CLASS_FORWARD (BodyDecomposition) |
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| MOVEIT_CLASS_FORWARD (CollisionRobotDistanceField) |
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| MOVEIT_CLASS_FORWARD (DistanceFieldCacheEntry) |
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| MOVEIT_STRUCT_FORWARD (FCLGeometry) |
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| MOVEIT_STRUCT_FORWARD (CollisionGeometryData) |
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int | refineContactNormals (const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5) |
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void | removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction) |
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void | removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction) |
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void | transform2fcl (const Eigen::Affine3d &b, fcl::Transform3f &f) |
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fcl::Transform3f | transform2fcl (const Eigen::Affine3d &b) |
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