Generic interface to collision detection. More...

Namespaces
	AllowedCollision
	Any pair of bodies can have a collision state associated to it.

	BodyTypes
	The types of bodies that are considered for collision.

	DistanceRequestTypes

Classes
class	AllowedCollisionMatrix
	Definition of a structure for the allowed collision matrix. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not. More...

class	BodyDecomposition

struct	BodyDecompositionCache

struct	CollisionData

class	CollisionDetectorAllocator
	An allocator for a compatible CollisionWorld/CollisionRobot pair. More...

class	CollisionDetectorAllocatorAllValid
	An allocator for AllValid collision detectors. More...

class	CollisionDetectorAllocatorDistanceField
	An allocator for Distance Field collision detectors. More...

class	CollisionDetectorAllocatorFCL
	An allocator for FCL collision detectors. More...

class	CollisionDetectorAllocatorHybrid
	An allocator for Hybrid collision detectors. More...

class	CollisionDetectorAllocatorTemplate
	Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. More...

struct	CollisionGeometryData

class	CollisionPlugin
	Plugin API for loading a custom collision detection robot/world. More...

struct	CollisionRequest
	Representation of a collision checking request. More...

struct	CollisionResult
	Representation of a collision checking result. More...

class	CollisionRobot
	This class represents a collision model of the robot and can be used for self collision checks (to check if the robot is in collision with itself) or in collision checks with a different robot. Collision checks with the environment are performed using the CollisionWorld class. More...

class	CollisionRobotAllValid

class	CollisionRobotDistanceField

class	CollisionRobotDistanceFieldROS

class	CollisionRobotFCL

class	CollisionRobotHybrid

class	CollisionRobotHybridROS

struct	CollisionSphere

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

class	CollisionWorldAllValid

class	CollisionWorldDistanceField

class	CollisionWorldFCL

class	CollisionWorldHybrid

struct	Contact
	Definition of a contact point. More...

struct	CostSource
	When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...

struct	DistanceData

struct	DistanceFieldCacheEntry

struct	DistanceRequest

struct	DistanceResult

struct	DistanceResultsData

struct	FCLGeometry

struct	FCLManager

struct	FCLObject

struct	FCLShapeCache

struct	GradientInfo

struct	GroupStateRepresentation

struct	IfSameType

struct	IfSameType< T, T >

class	PosedBodyPointDecomposition

class	PosedBodyPointDecompositionVector

class	PosedBodySphereDecomposition

class	PosedBodySphereDecompositionVector

class	PosedDistanceField

struct	ProximityInfo

class	World
	Maintain a representation of the environment. More...

class	WorldDiff
	Maintain a diff list of changes that have happened to a World. More...

Typedefs
typedef BodyTypes::Type	BodyType
	The types of bodies that are considered for collision. More...

typedef boost::function< bool(collision_detection::Contact &)>	DecideContactFn
	Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL) More...

typedef std::map< const std::pair< std::string, std::string >, std::vector< DistanceResultsData > >	DistanceMap

typedef DistanceRequestTypes::DistanceRequestType	DistanceRequestType

typedef std::shared_ptr< const fcl::CollisionObject >	FCLCollisionObjectConstPtr

typedef std::shared_ptr< fcl::CollisionObject >	FCLCollisionObjectPtr

Enumerations
enum	CollisionType { NONE = 0, SELF = 1, INTRA = 2, ENVIRONMENT = 3 }

Functions
static bool	andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, Contact &contact)

void	cleanCollisionGeometryCache ()

bool	collisionCallback (fcl::CollisionObject o1, fcl::CollisionObject o2, void *data)

void	contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg)

void	costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_model::LinkModel *link, int shape_index)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link, int shape_index)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index)

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)

std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Affine3d &relativeTransform)

bool	distanceCallback (fcl::CollisionObject o1, fcl::CollisionObject o2, void *data, double &min_dist)

bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)

void	fcl2contact (const fcl::Contact &fc, Contact &c)

void	fcl2costsource (const fcl::CostSource &fcs, CostSource &cs)

PosedBodyPointDecompositionVectorPtr	getAttachedBodyPointDecomposition (const robot_state::AttachedBody *att, double resolution)

PosedBodySphereDecompositionVectorPtr	getAttachedBodySphereDecomposition (const robot_state::AttachedBody *att, double resolution)

BodyDecompositionCache &	getBodyDecompositionCache ()

BodyDecompositionConstPtr	getBodyDecompositionCacheEntry (const shapes::ShapeConstPtr &shape, double resolution)

void	getBodySphereVisualizationMarkers (GroupStateRepresentationConstPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array)

void	getBodySphereVisualizationMarkers (GroupStateRepresentationPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array)

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)

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)

void	getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)

PosedBodyPointDecompositionVectorPtr	getCollisionObjectPointDecomposition (const collision_detection::World::Object &obj, double resolution)

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)

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)

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)

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)

void	getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)

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)

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)

bool	getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)

template<typename BV , typename T >
FCLShapeCache &	GetShapeCache ()

double	getTotalCost (const std::set< CostSource > &cost_sources)

void	intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)

static bool	loadLinkBodySphereDecompositions (ros::NodeHandle &nh, const planning_models::RobotModelConstPtr &kmodel, std::map< std::string, std::vector< collision_detection::CollisionSphere > > &link_body_spheres)

	MOVEIT_CLASS_FORWARD (CollisionPlugin)

	MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)

	MOVEIT_CLASS_FORWARD (WorldDiff)

	MOVEIT_CLASS_FORWARD (GroupStateRepresentation)

	MOVEIT_CLASS_FORWARD (CollisionRobot)

	MOVEIT_CLASS_FORWARD (DistanceFieldCacheEntry)

	MOVEIT_CLASS_FORWARD (CollisionWorld)

	MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix)

	MOVEIT_CLASS_FORWARD (World)

	MOVEIT_CLASS_FORWARD (CollisionRobotDistanceField)

	MOVEIT_CLASS_FORWARD (BodyDecomposition)

	MOVEIT_STRUCT_FORWARD (CollisionGeometryData)

	MOVEIT_STRUCT_FORWARD (FCLGeometry)

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)
	Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point. More...

void	removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)

void	removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)

void	transform2fcl (const Eigen::Affine3d &b, fcl::Transform3f &f)

fcl::Transform3f	transform2fcl (const Eigen::Affine3d &b)

Variables
static const double	DEFAULT_COLLISION_TOLERANCE = 0.0

static const double	DEFAULT_MAX_PROPOGATION_DISTANCE = .25

static const double	DEFAULT_RESOLUTION = .02

static const double	DEFAULT_SIZE_X = 3.0

static const double	DEFAULT_SIZE_Y = 3.0

static const double	DEFAULT_SIZE_Z = 4.0

static const bool	DEFAULT_USE_SIGNED_DISTANCE_FIELD = false

const double	EPSILON = 0.001f

Detailed Description

Generic interface to collision detection.

Typedef Documentation

typedef BodyTypes::Type collision_detection::BodyType

The types of bodies that are considered for collision.

Definition at line 71 of file include/moveit/collision_detection/collision_common.h.

typedef boost::function<bool(collision_detection::Contact&)> collision_detection::DecideContactFn

Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)

Definition at line 73 of file collision_matrix.h.

typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> > collision_detection::DistanceMap

Definition at line 359 of file include/moveit/collision_detection/collision_common.h.

typedef DistanceRequestTypes::DistanceRequestType collision_detection::DistanceRequestType

Definition at line 233 of file include/moveit/collision_detection/collision_common.h.

typedef std::shared_ptr<const fcl::CollisionObject> collision_detection::FCLCollisionObjectConstPtr

Definition at line 212 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

typedef std::shared_ptr<fcl::CollisionObject> collision_detection::FCLCollisionObjectPtr

Definition at line 211 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Enumeration Type Documentation

enum collision_detection::CollisionType

Enumerator
NONE
SELF
INTRA
ENVIRONMENT

Definition at line 59 of file collision_distance_field_types.h.

Function Documentation

static bool collision_detection::andDecideContact	(	const DecideContactFn &	f1,
		const DecideContactFn &	f2,
		Contact &	contact
	)

static

Definition at line 259 of file collision_matrix.cpp.

void collision_detection::cleanCollisionGeometryCache ( )

Definition at line 887 of file collision_common.cpp.

bool collision_detection::collisionCallback	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		void *	data
	)

Definition at line 47 of file collision_common.cpp.

void collision_detection::contactToMsg	(	const Contact &	contact,
		moveit_msgs::ContactInformation &	msg
	)

Definition at line 273 of file collision_tools.cpp.

void collision_detection::costSourceToMsg	(	const CostSource &	cost_source,
		moveit_msgs::CostSource &	msg
	)

Definition at line 262 of file collision_tools.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const robot_model::LinkModel *	link,
		int	shape_index
	)

Definition at line 837 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const robot_state::AttachedBody *	ab,
		int	shape_index
	)

Definition at line 843 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const World::Object *	obj
	)

Definition at line 849 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const robot_model::LinkModel *	link,
		int	shape_index
	)

Definition at line 869 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const robot_state::AttachedBody *	ab,
		int	shape_index
	)

Definition at line 875 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const World::Object *	obj
	)

Definition at line 881 of file collision_common.cpp.

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const T *	data,
		int	shape_index
	)

Definition at line 636 of file collision_common.cpp.

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const T *	data,
		int	shape_index
	)

Definition at line 855 of file collision_common.cpp.

std::vector< collision_detection::CollisionSphere > collision_detection::determineCollisionSpheres	(	const bodies::Body *	body,
		Eigen::Affine3d &	relativeTransform
	)

Definition at line 48 of file collision_distance_field_types.cpp.

bool collision_detection::distanceCallback	(	fcl::CollisionObject *	o1,
		fcl::CollisionObject *	o2,
		void *	data,
		double &	min_dist
	)

Definition at line 390 of file collision_common.cpp.

bool collision_detection::doBoundingSpheresIntersect	(	const PosedBodySphereDecompositionConstPtr &	p1,
		const PosedBodySphereDecompositionConstPtr &	p2
	)

Definition at line 397 of file collision_distance_field_types.cpp.

void collision_detection::fcl2contact	(	const fcl::Contact &	fc,
		Contact &	c
	)

inline

Definition at line 262 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

void collision_detection::fcl2costsource	(	const fcl::CostSource &	fcs,
		CostSource &	cs
	)

inline

Definition at line 275 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

PosedBodyPointDecompositionVectorPtr collision_detection::getAttachedBodyPointDecomposition	(	const robot_state::AttachedBody *	att,
		double	resolution
	)

Definition at line 117 of file collision_common_distance_field.cpp.

PosedBodySphereDecompositionVectorPtr collision_detection::getAttachedBodySphereDecomposition	(	const robot_state::AttachedBody *	att,
		double	resolution
	)

Definition at line 103 of file collision_common_distance_field.cpp.

BodyDecompositionCache& collision_detection::getBodyDecompositionCache ( )

Definition at line 59 of file collision_common_distance_field.cpp.

BodyDecompositionConstPtr collision_detection::getBodyDecompositionCacheEntry	(	const shapes::ShapeConstPtr &	shape,
		double	resolution
	)

Definition at line 65 of file collision_common_distance_field.cpp.

void collision_detection::getBodySphereVisualizationMarkers	(	GroupStateRepresentationConstPtr &	gsr,
		std::string	reference_frame,
		visualization_msgs::MarkerArray &	body_marker_array
	)

Definition at line 131 of file collision_common_distance_field.cpp.

void collision_detection::getBodySphereVisualizationMarkers	(	GroupStateRepresentationPtr &	gsr,
		std::string	reference_frame,
		visualization_msgs::MarkerArray &	body_marker_array
	)

void collision_detection::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
	)

Definition at line 546 of file collision_distance_field_types.cpp.

void collision_detection::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`
	)

Definition at line 95 of file collision_tools.cpp.

void collision_detection::getCollisionMarkersFromContacts	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		const CollisionResult::ContactMap &	con
	)

Definition at line 53 of file collision_tools.cpp.

PosedBodyPointDecompositionVectorPtr collision_detection::getCollisionObjectPointDecomposition	(	const collision_detection::World::Object &	obj,
		double	resolution
	)

Definition at line 89 of file collision_common_distance_field.cpp.

bool collision_detection::getCollisionSphereCollision	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		double	maximum_value,
		double	tolerance
	)

Definition at line 193 of file collision_distance_field_types.cpp.

bool collision_detection::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
	)

Definition at line 220 of file collision_distance_field_types.cpp.

bool collision_detection::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
	)

Definition at line 130 of file collision_distance_field_types.cpp.

void collision_detection::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
	)

Definition at line 413 of file collision_distance_field_types.cpp.

void collision_detection::getCostMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources
	)

Todo:: add a class for managing cost sources

Definition at line 42 of file collision_tools.cpp.

void collision_detection::getCostMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime
	)

Definition at line 64 of file collision_tools.cpp.

void collision_detection::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
	)

Definition at line 443 of file collision_distance_field_types.cpp.

bool collision_detection::getSensorPositioning	(	geometry_msgs::Point &	point,
		const std::set< CostSource > &	cost_sources
	)

Definition at line 134 of file collision_tools.cpp.

template<typename BV , typename T >

FCLShapeCache& collision_detection::GetShapeCache ( )

Definition at line 611 of file collision_common.cpp.

double collision_detection::getTotalCost ( const std::set< CostSource > & cost_sources )

Definition at line 147 of file collision_tools.cpp.

void collision_detection::intersectCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	a,
		const std::set< CostSource > &	b
	)

Definition at line 155 of file collision_tools.cpp.

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionPlugin )

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionDetectorAllocator )

collision_detection::MOVEIT_CLASS_FORWARD ( WorldDiff )

collision_detection::MOVEIT_CLASS_FORWARD ( GroupStateRepresentation )

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionRobot )

collision_detection::MOVEIT_CLASS_FORWARD ( DistanceFieldCacheEntry )

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionWorld )

collision_detection::MOVEIT_CLASS_FORWARD ( AllowedCollisionMatrix )

collision_detection::MOVEIT_CLASS_FORWARD ( World )

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionRobotDistanceField )

collision_detection::MOVEIT_CLASS_FORWARD ( BodyDecomposition )

collision_detection::MOVEIT_STRUCT_FORWARD ( CollisionGeometryData )

collision_detection::MOVEIT_STRUCT_FORWARD ( FCLGeometry )

int collision_detection::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`
	)

Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point.

This is an implementation of the algorithm described in: A. Leeper, S. Chan, K. Salisbury. Point Clouds Can Be Represented as Implicit Surfaces for Constraint-Based Haptic Rendering. ICRA, May 2012, St Paul, MN. http://adamleeper.com/research/papers/2012_ICRA_leeper-chan-salisbury.pdf

Parameters

The	octomap originally used for collision detection.
The	collision result (which will get its normals updated)
The	distance, as a multiple of the octomap cell size, from which to include neighboring cells.
The	minimum angle change required for a normal to be over-written
Whether	to request a depth estimate from the algorithm (experimental...)
The	iso-surface threshold value (0.5 is a reasonable default).
The	metaball radius, as a multiple of the octomap cell size (1.5 is a reasonable default)

Definition at line 61 of file collision_octomap_filter.cpp.

void collision_detection::removeCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	cost_sources_to_remove,
		double	overlap_fraction
	)