collision_detection Namespace Reference

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
	Data structure which is passed to the collision callback function of the collision manager. More...
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...
class	CollisionDetectorFCLPluginLoader
struct	CollisionGeometryData
	Wrapper around world, link and attached objects' geometry data. More...
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	CollisionRobotFCL
class	CollisionRobotHybrid
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
	Data structure which is passed to the distance callback function of the collision manager. More...
struct	DistanceFieldCacheEntry
struct	DistanceRequest
	Representation of a distance-reporting request. More...
struct	DistanceResult
	Result of a distance request. More...
struct	DistanceResultsData
	Generic representation of the distance information for a pair of objects. More...
struct	FCLGeometry
	Bundles the CollisionGeometryData and FCL collision geometry representation into a single class. More...
struct	FCLManager
	Bundles an FCLObject and a broadphase FCL collision manager. More...
struct	FCLObject
	A general high-level object which consists of multiple FCLCollisionObjects. It is the top level data structure which is used in the collision checking process. More...
struct	FCLShapeCache
	Cache for an arbitrary type of shape. It is assigned during the execution of createCollisionGeometry(). More...
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
	Mapping between the names of the collision objects and the DistanceResultData. More...
typedef DistanceRequestTypes::DistanceRequestType	DistanceRequestType
typedef std::shared_ptr< const fcl::CollisionObjectd >	FCLCollisionObjectConstPtr
typedef std::shared_ptr< fcl::CollisionObjectd >	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 ()
	Increases the counter of the caches which can trigger the cleaning of expired entries from them. More...
bool	collisionCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
	Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information. More...
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)
	Create new FCLGeometry object out of robot link model. More...
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index)
	Create new FCLGeometry object out of attached body. More...
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
	Create new FCLGeometry object out of a world object. More...
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of robot link model. More...
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of an attached body. More...
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
	Create new scaled and / or padded FCLGeometry object out of an world object. More...
template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). More...
template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling. More...
std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Isometry3d &relativeTransform)
bool	distanceCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data, double &min_dist)
	Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances. More...
bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)
void	fcl2contact (const fcl::Contactd &fc, Contact &c)
	Transforms an FCL contact into a MoveIt contact point. More...
void	fcl2costsource (const fcl::CostSourced &fcs, CostSource &cs)
	Transforms the FCL internal representation to the MoveIt CostSource data structure. More...
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 (const GroupStateRepresentationConstPtr &gsr, const std::string &reference_frame, visualization_msgs::MarkerArray &body_marker_array)
void	getBodySphereVisualizationMarkers (const GroupStateRepresentationPtr &gsr, const 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)
	MOVEIT_CLASS_FORWARD (CollisionPlugin)
	MOVEIT_CLASS_FORWARD (WorldDiff)
	MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)
	MOVEIT_CLASS_FORWARD (CollisionRobot)
	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::Isometry3d &b, fcl::Transform3d &f)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...
fcl::Transform3d	transform2fcl (const Eigen::Isometry3d &b)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...

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
constexpr char	LOGNAME [] = "collision_detection.bullet"
const double	MAX_DISTANCE_MARGIN = 99

Detailed Description

Generic interface to collision detection.

Typedef Documentation

BodyType

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.

DecideContactFn

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.

DistanceMap

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

Mapping between the names of the collision objects and the DistanceResultData.

Definition at line 351 of file include/moveit/collision_detection/collision_common.h.

DistanceRequestType

typedef DistanceRequestTypes::DistanceRequestType collision_detection::DistanceRequestType

Definition at line 235 of file include/moveit/collision_detection/collision_common.h.

FCLCollisionObjectConstPtr

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

Definition at line 247 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

FCLCollisionObjectPtr

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

Definition at line 246 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Enumeration Type Documentation

CollisionType

enum collision_detection::CollisionType

Enumerator
NONE
SELF
INTRA
ENVIRONMENT

Definition at line 58 of file collision_distance_field_types.h.

Function Documentation

andDecideContact()

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

static

Definition at line 250 of file collision_matrix.cpp.

cleanCollisionGeometryCache()

void collision_detection::cleanCollisionGeometryCache

(

)

Increases the counter of the caches which can trigger the cleaning of expired entries from them.

Definition at line 922 of file fcl/src/collision_common.cpp.

collisionCallback()

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

Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information.

Parameters

o1	First FCL collision object
o2	Second FCL collision object General pointer to arbitrary data which is used during the callback

Returns

True terminates the collision check, false continues it to the next pair of objects

Definition at line 55 of file fcl/src/collision_common.cpp.

contactToMsg()

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

Definition at line 272 of file collision_tools.cpp.

costSourceToMsg()

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

Definition at line 261 of file collision_tools.cpp.

createCollisionGeometry() [1/8]

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

Create new FCLGeometry object out of robot link model.

Definition at line 870 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [2/8]

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

Create new FCLGeometry object out of attached body.

Definition at line 876 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [3/8]

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

Create new FCLGeometry object out of a world object.

A world object always consists only of a single shape, therefore we don't need the shape_index.

Definition at line 882 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [4/8]

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

Create new scaled and / or padded FCLGeometry object out of robot link model.

Definition at line 904 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [5/8]

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

Create new scaled and / or padded FCLGeometry object out of an attached body.

Definition at line 910 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [6/8]

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

Create new scaled and / or padded FCLGeometry object out of an world object.

Definition at line 916 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [7/8]

template<typename BV , typename T >

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

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV).

It assigns a thread-local cache for each type of shape and minimizes memory usage and copying through utilizing the cache.

Definition at line 691 of file fcl/src/collision_common.cpp.

createCollisionGeometry() [8/8]

template<typename BV , typename T >

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

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling.

Definition at line 890 of file fcl/src/collision_common.cpp.

determineCollisionSpheres()

std::vector< collision_detection::CollisionSphere > collision_detection::determineCollisionSpheres	(	const bodies::Body *	body,
		Eigen::Isometry3d &	relativeTransform
	)

Definition at line 47 of file collision_distance_field_types.cpp.

distanceCallback()

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

Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances.

Parameters

o1	First FCL collision object
o2	Second FCL collision object General pointer to arbitrary data which is used during the callback

Returns

True terminates the distance check, false continues it to the next pair of objects

Definition at line 410 of file fcl/src/collision_common.cpp.

doBoundingSpheresIntersect()

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

Definition at line 396 of file collision_distance_field_types.cpp.

fcl2contact()

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

inline

Transforms an FCL contact into a MoveIt contact point.

Definition at line 337 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

fcl2costsource()

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

inline

Transforms the FCL internal representation to the MoveIt CostSource data structure.

Definition at line 351 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

getAttachedBodyPointDecomposition()

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

Definition at line 117 of file collision_common_distance_field.cpp.

getAttachedBodySphereDecomposition()

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

Definition at line 103 of file collision_common_distance_field.cpp.

getBodyDecompositionCache()

BodyDecompositionCache& collision_detection::getBodyDecompositionCache

(

)

Definition at line 59 of file collision_common_distance_field.cpp.

getBodyDecompositionCacheEntry()

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

Definition at line 65 of file collision_common_distance_field.cpp.

getBodySphereVisualizationMarkers() [1/2]

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

Definition at line 131 of file collision_common_distance_field.cpp.

getBodySphereVisualizationMarkers() [2/2]

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

getCollisionMarkers()

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 541 of file collision_distance_field_types.cpp.

getCollisionMarkersFromContacts() [1/2]

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.

getCollisionMarkersFromContacts() [2/2]

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.

getCollisionObjectPointDecomposition()

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

Definition at line 89 of file collision_common_distance_field.cpp.

getCollisionSphereCollision() [1/2]

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 192 of file collision_distance_field_types.cpp.

getCollisionSphereCollision() [2/2]

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 219 of file collision_distance_field_types.cpp.

getCollisionSphereGradients()

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 129 of file collision_distance_field_types.cpp.

getCollisionSphereMarkers()

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 408 of file collision_distance_field_types.cpp.

getCostMarkers() [1/2]

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.

getCostMarkers() [2/2]

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.

getProximityGradientMarkers()

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 438 of file collision_distance_field_types.cpp.

getSensorPositioning()

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

Definition at line 134 of file collision_tools.cpp.

GetShapeCache()

template<typename BV , typename T >

FCLShapeCache& collision_detection::GetShapeCache

(

)

Definition at line 652 of file fcl/src/collision_common.cpp.

getTotalCost()

double collision_detection::getTotalCost

(

const std::set< CostSource > &

cost_sources

)

Definition at line 147 of file collision_tools.cpp.

intersectCostSources()

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.

MOVEIT_CLASS_FORWARD() [1/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

CollisionPlugin

)

MOVEIT_CLASS_FORWARD() [2/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

WorldDiff

)

MOVEIT_CLASS_FORWARD() [3/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

CollisionDetectorAllocator

)

MOVEIT_CLASS_FORWARD() [4/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

CollisionRobot

)

MOVEIT_CLASS_FORWARD() [5/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

CollisionWorld

)

MOVEIT_CLASS_FORWARD() [6/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

AllowedCollisionMatrix

)

MOVEIT_CLASS_FORWARD() [7/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

World

)

MOVEIT_CLASS_FORWARD() [8/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

CollisionRobotDistanceField

)

MOVEIT_CLASS_FORWARD() [9/9]

collision_detection::MOVEIT_CLASS_FORWARD

(

BodyDecomposition

)

MOVEIT_STRUCT_FORWARD() [1/2]

collision_detection::MOVEIT_STRUCT_FORWARD

(

CollisionGeometryData

)

MOVEIT_STRUCT_FORWARD() [2/2]

collision_detection::MOVEIT_STRUCT_FORWARD

(

FCLGeometry

)

refineContactNormals()

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.

removeCostSources()

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

Definition at line 208 of file collision_tools.cpp.

removeOverlapping()

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

Definition at line 178 of file collision_tools.cpp.

transform2fcl() [1/2]

void collision_detection::transform2fcl ( const Eigen::Isometry3d &  b, fcl::Transform3d &  f  )

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 317 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

transform2fcl() [2/2]

fcl::Transform3d collision_detection::transform2fcl ( const Eigen::Isometry3d &  b )

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 329 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Variable Documentation

DEFAULT_COLLISION_TOLERANCE

const double collision_detection::DEFAULT_COLLISION_TOLERANCE = 0.0

static

Definition at line 54 of file collision_robot_distance_field.h.

DEFAULT_MAX_PROPOGATION_DISTANCE

const double collision_detection::DEFAULT_MAX_PROPOGATION_DISTANCE = .25

static

Definition at line 55 of file collision_robot_distance_field.h.

DEFAULT_RESOLUTION

const double collision_detection::DEFAULT_RESOLUTION = .02

static

Definition at line 53 of file collision_robot_distance_field.h.

DEFAULT_SIZE_X

const double collision_detection::DEFAULT_SIZE_X = 3.0

static

Definition at line 49 of file collision_robot_distance_field.h.

DEFAULT_SIZE_Y

const double collision_detection::DEFAULT_SIZE_Y = 3.0

static

Definition at line 50 of file collision_robot_distance_field.h.

DEFAULT_SIZE_Z

const double collision_detection::DEFAULT_SIZE_Z = 4.0

static

Definition at line 51 of file collision_robot_distance_field.h.

DEFAULT_USE_SIGNED_DISTANCE_FIELD

const bool collision_detection::DEFAULT_USE_SIGNED_DISTANCE_FIELD = false

static

Definition at line 52 of file collision_robot_distance_field.h.

EPSILON

const double collision_detection::EPSILON = 0.001f

Definition at line 47 of file collision_robot_distance_field.cpp.

LOGNAME

constexpr char collision_detection::LOGNAME[] = "collision_detection.bullet"

Definition at line 48 of file collision_env_bullet.cpp.

MAX_DISTANCE_MARGIN

const double collision_detection::MAX_DISTANCE_MARGIN = 99

Definition at line 47 of file collision_env_bullet.cpp.