Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in. More...

#include <collision_world.h>

Inheritance diagram for collision_detection::CollisionWorld:

[legend]

Public Types
typedef World::ObjectConstPtr	ObjectConstPtr

typedef World::ObjectPtr	ObjectPtr

Public Member Functions
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...

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const =0
	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 =0
	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 =0
	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 =0
	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 =0
	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 =0
	Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered. 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...

virtual void	distanceRobot (const DistanceRequest &req, DistanceResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const =0
	Compute the 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...

virtual void	distanceWorld (const DistanceRequest &req, DistanceResult &res, const CollisionWorld &world) const =0
	Compute the distance between another world. More...

const WorldPtr &	getWorld ()

const WorldConstPtr &	getWorld () const

virtual void	setWorld (const WorldPtr &world)

virtual	~CollisionWorld ()

Private Attributes
WorldPtr	world_

WorldConstPtr	world_const_

Detailed Description

Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in.

Definition at line 55 of file collision_world.h.

Member Typedef Documentation

typedef World::ObjectConstPtr collision_detection::CollisionWorld::ObjectConstPtr

Definition at line 274 of file collision_world.h.

typedef World::ObjectPtr collision_detection::CollisionWorld::ObjectPtr

Definition at line 273 of file collision_world.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorld::CollisionWorld ( )

Definition at line 42 of file collision_world.cpp.

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

explicit

Definition at line 46 of file collision_world.cpp.

collision_detection::CollisionWorld::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.

Definition at line 50 of file collision_world.cpp.

virtual collision_detection::CollisionWorld::~CollisionWorld ( )

inlinevirtual

Definition at line 66 of file collision_world.h.

Member Function Documentation

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

virtual

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.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Reimplemented in collision_detection::CollisionWorldDistanceField.

Definition at line 54 of file collision_world.cpp.

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

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Reimplemented in collision_detection::CollisionWorldDistanceField.

Definition at line 62 of file collision_world.cpp.

void collision_detection::CollisionWorld::checkCollision	(	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 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.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
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

Definition at line 70 of file collision_world.cpp.

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

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
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.

Definition at line 78 of file collision_world.cpp.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

pure 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

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

pure 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.

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const

pure 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

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const

pure 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.

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldFCL, and collision_detection::CollisionWorldAllValid.

virtual void collision_detection::CollisionWorld::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world
	)		const

pure 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

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

virtual void collision_detection::CollisionWorld::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world,
		const AllowedCollisionMatrix &	acm
	)		const

pure 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.

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

double collision_detection::CollisionWorld::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const

inline

Compute the shortest distance between a robot and the world.

Parameters

robot	The robot to check distance for
state	The state for the robot to check distances from
verbose	Output debug information about distance checks

Definition at line 180 of file collision_world.h.

double collision_detection::CollisionWorld::distanceRobot	(	const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm,
		bool	verbose = `false`
	)		const

inline

Compute the shortest distance between a robot and the world.

Parameters

robot	The robot to check distance for
state	The state for the robot to check distances from
acm	Using an allowed collision matrix has the effect of ignoring distances from links that are always allowed to be in collision.
verbose	Output debug information about distance checks

Definition at line 199 of file collision_world.h.

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

pure virtual

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

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

double collision_detection::CollisionWorld::distanceWorld	(	const CollisionWorld &	world,
		bool	verbose = `false`
	)		const

inline

The shortest distance to another world instance (world)

Parameters

verbose Output debug information about distance checks

Definition at line 223 of file collision_world.h.

double collision_detection::CollisionWorld::distanceWorld	(	const CollisionWorld &	world,
		const AllowedCollisionMatrix &	acm,
		bool	verbose = `false`
	)		const

inline

The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm)

Parameters

verbose Output debug information about distance checks

Definition at line 237 of file collision_world.h.

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

pure virtual

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

Implemented in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldAllValid, and collision_detection::CollisionWorldFCL.

const WorldPtr& collision_detection::CollisionWorld::getWorld ( )

inline

access the world geometry

Definition at line 262 of file collision_world.h.

const WorldConstPtr& collision_detection::CollisionWorld::getWorld ( ) const

inline

access the world geometry

Definition at line 268 of file collision_world.h.

void collision_detection::CollisionWorld::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 in collision_detection::CollisionWorldDistanceField, collision_detection::CollisionWorldHybrid, and collision_detection::CollisionWorldFCL.

Definition at line 87 of file collision_world.cpp.

Member Data Documentation

WorldPtr collision_detection::CollisionWorld::world_

private

Definition at line 277 of file collision_world.h.

WorldConstPtr collision_detection::CollisionWorld::world_const_

private

Definition at line 278 of file collision_world.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation