compare_collision_speed_checking_fcl_bullet.cpp File Reference

#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/collision_plugin_loader/collision_plugin_loader.h>
#include <moveit/collision_detection_bullet/collision_detector_allocator_bullet.h>
#include <moveit/collision_detection_fcl/collision_detector_allocator_fcl.h>
#include <geometric_shapes/shape_operations.h>
#include <random_numbers/random_numbers.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/utils/robot_model_test_utils.h>

Include dependency graph for compare_collision_speed_checking_fcl_bullet.cpp:

Go to the source code of this file.

Enumerations
enum	CollisionDetector { CollisionDetector::FCL, CollisionDetector::BULLET }
	Enumerates the available collision detectors. More...
enum	CollisionObjectType {   CollisionObjectType::USE_SHAPE_TYPE, CollisionObjectType::CONVEX_HULL, CollisionObjectType::MULTI_SPHERE, CollisionObjectType::SDF,   CollisionObjectType::MESH, CollisionObjectType::BOX }
	Enumerates the different types of collision objects. More...
enum	RobotStateSelector { RobotStateSelector::IN_COLLISION, RobotStateSelector::NOT_IN_COLLISION, RobotStateSelector::RANDOM }
	Defines a random robot state. More...

Functions
void	clutterWorld (const planning_scene::PlanningScenePtr &planning_scene, const size_t num_objects, CollisionObjectType type)
	Clutters the world of the planning scene with random objects in a certain area around the origin. All added objects are not in collision with the robot. More...
void	findStates (const RobotStateSelector desired_states, unsigned int num_states, const planning_scene::PlanningScenePtr &scene, std::vector< moveit::core::RobotState > &robot_states)
	Samples valid states of the robot which can be in collision if desired. More...
int	main (int argc, char **argv)
void	runCollisionDetection (unsigned int trials, const planning_scene::PlanningScenePtr &scene, const std::vector< moveit::core::RobotState > &states, const CollisionDetector col_detector, bool only_self, bool distance=false)
	Runs a collision detection benchmark and measures the time. More...

Variables
static const int	MAX_SEARCH_FACTOR_CLUTTER = 3
	Factor to compute the maximum number of trials random clutter generation. More...
static const int	MAX_SEARCH_FACTOR_STATES = 30
	Factor to compute the maximum number of trials for random state generation. More...
static const std::string	ROBOT_DESCRIPTION = "robot_description"

Enumeration Type Documentation

CollisionDetector

enum CollisionDetector

strong

Enumerates the available collision detectors.

Enumerator
FCL
BULLET

Definition at line 64 of file compare_collision_speed_checking_fcl_bullet.cpp.

CollisionObjectType

enum CollisionObjectType

strong

Enumerates the different types of collision objects.

Enumerator
USE_SHAPE_TYPE
CONVEX_HULL
MULTI_SPHERE
SDF
MESH
BOX

Definition at line 71 of file compare_collision_speed_checking_fcl_bullet.cpp.

RobotStateSelector

enum RobotStateSelector

strong

Defines a random robot state.

Enumerator
IN_COLLISION
NOT_IN_COLLISION
RANDOM

Definition at line 56 of file compare_collision_speed_checking_fcl_bullet.cpp.

Function Documentation

clutterWorld()

void clutterWorld	(	const planning_scene::PlanningScenePtr &	planning_scene,
		const size_t	num_objects,
		CollisionObjectType	type
	)

Clutters the world of the planning scene with random objects in a certain area around the origin. All added objects are not in collision with the robot.

Parameters

planning_scene	The planning scene
num_objects	The number of objects to be cluttered
CollisionObjectType	Type of object to clutter (mesh or box)

Definition at line 83 of file compare_collision_speed_checking_fcl_bullet.cpp.

findStates()

void findStates	(	const RobotStateSelector	desired_states,
		unsigned int	num_states,
		const planning_scene::PlanningScenePtr &	scene,
		std::vector< moveit::core::RobotState > &	robot_states
	)

Samples valid states of the robot which can be in collision if desired.

Parameters

desired_states	Specifier for type for desired state
num_states	Number of desired states
scene	The planning scene
robot_states	Result vector

Definition at line 250 of file compare_collision_speed_checking_fcl_bullet.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 292 of file compare_collision_speed_checking_fcl_bullet.cpp.

runCollisionDetection()

void runCollisionDetection	(	unsigned int	trials,
		const planning_scene::PlanningScenePtr &	scene,
		const std::vector< moveit::core::RobotState > &	states,
		const CollisionDetector	col_detector,
		bool	only_self,
		bool	distance = false
	)

Runs a collision detection benchmark and measures the time.

Parameters

trials	The number of repeated collision checks for each state
scene	The planning scene
CollisionDetector	The type of collision detector
only_self	Flag for only self collision check performed

Definition at line 173 of file compare_collision_speed_checking_fcl_bullet.cpp.

Variable Documentation

MAX_SEARCH_FACTOR_CLUTTER

const int MAX_SEARCH_FACTOR_CLUTTER = 3

static

Factor to compute the maximum number of trials random clutter generation.

Definition at line 50 of file compare_collision_speed_checking_fcl_bullet.cpp.

MAX_SEARCH_FACTOR_STATES

const int MAX_SEARCH_FACTOR_STATES = 30

static

Factor to compute the maximum number of trials for random state generation.

Definition at line 53 of file compare_collision_speed_checking_fcl_bullet.cpp.

ROBOT_DESCRIPTION

const std::string ROBOT_DESCRIPTION = "robot_description"

static

Definition at line 47 of file compare_collision_speed_checking_fcl_bullet.cpp.