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void | checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
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void | checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const |
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void | checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
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void | checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const |
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void | checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
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void | checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const |
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void | checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
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void | checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const |
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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) |
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| 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) |
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| CollisionWorldHybrid (const CollisionWorldHybrid &other, const WorldPtr &world) |
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void | getAllCollisions (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const |
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void | getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const |
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const CollisionWorldDistanceFieldConstPtr | getCollisionWorldDistanceField () const |
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virtual void | setWorld (const WorldPtr &world) |
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virtual | ~CollisionWorldHybrid () |
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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...
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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...
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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...
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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...
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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...
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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...
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| CollisionWorldFCL () |
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| CollisionWorldFCL (const WorldPtr &world) |
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| CollisionWorldFCL (const CollisionWorldFCL &other, const WorldPtr &world) |
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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...
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virtual void | distanceWorld (const DistanceRequest &req, DistanceResult &res, const CollisionWorld &world) const override |
| Compute the distance between another world. More...
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virtual | ~CollisionWorldFCL () |
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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...
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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...
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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...
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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...
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| CollisionWorld () |
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| CollisionWorld (const WorldPtr &world) |
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| 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...
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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...
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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...
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double | distanceWorld (const CollisionWorld &world, bool verbose=false) const |
| The shortest distance to another world instance (world) More...
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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...
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const WorldPtr & | getWorld () |
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const WorldConstPtr & | getWorld () const |
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virtual | ~CollisionWorld () |
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