A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...

#include <bullet_cast_bvh_manager.h>

Inheritance diagram for collision_detection_bullet::BulletCastBVHManager:

Public Member Functions
void	addCollisionObject (const CollisionObjectWrapperPtr &cow) override
	Add a tesseract collision object to the manager. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletCastBVHManager ()=default
	Constructor. More...

BulletCastBVHManagerPtr	clone () const
	Clone the manager. More...

void	contactTest (collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self) override
	Perform a contact test for all objects. More...

void	setCastCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2)
	Set a single cast (moving) collision object's tansforms. More...

	~BulletCastBVHManager () override=default

Public Member Functions inherited from collision_detection_bullet::BulletBVHManager
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletBVHManager ()
	Constructor. More...

BulletBVHManagerPtr	clone () const
	Clone the manager. More...

bool	disableCollisionObject (const std::string &name)
	Disable an object. More...

bool	enableCollisionObject (const std::string &name)
	Enable an object. More...

const std::vector< std::string > &	getActiveCollisionObjects () const
	Get which collision objects are active. More...

const std::map< std::string, CollisionObjectWrapperPtr > &	getCollisionObjects () const

double	getContactDistanceThreshold () const
	Get the contact distance threshold. More...

bool	hasCollisionObject (const std::string &name) const
	Find if a collision object already exists. More...

bool	removeCollisionObject (const std::string &name)
	Remove an object from the checker. More...

void	setActiveCollisionObjects (const std::vector< std::string > &names)
	Set which collision objects are active. More...

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose)
	Set a single static collision object's tansform. More...

void	setContactDistanceThreshold (double contact_distance)
	Set the contact distance threshold for which collision should be considered through expanding the AABB by the contact_distance for all links. More...

virtual	~BulletBVHManager ()

Additional Inherited Members
Protected Attributes inherited from collision_detection_bullet::BulletBVHManager
std::vector< std::string >	active_
	A list of the active collision links. More...

std::unique_ptr< btBroadphaseInterface >	broadphase_
	The bullet broadphase interface. More...

btDefaultCollisionConfiguration	coll_config_
	The bullet collision configuration. More...

double	contact_distance_
	The contact distance threshold. More...

btDispatcherInfo	dispatch_info_
	The bullet collision dispatcher configuration information. More...

std::unique_ptr< btCollisionDispatcher >	dispatcher_
	The bullet collision dispatcher used for getting object to object collison algorithm. More...

BroadphaseFilterCallback	filter_callback_
	Callback function for culling objects before a broadphase check. More...

std::map< std::string, CollisionObjectWrapperPtr >	link2cow_
	A map of collision objects being managed. More...

Detailed Description

A bounding volume hierarchy (BVH) implementation of a tesseract contact manager.

Definition at line 74 of file bullet_cast_bvh_manager.h.

Constructor & Destructor Documentation

◆ BulletCastBVHManager()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision_detection_bullet::BulletCastBVHManager::BulletCastBVHManager ( )

default

Constructor.

◆ ~BulletCastBVHManager()

collision_detection_bullet::BulletCastBVHManager::~BulletCastBVHManager ( )

overridedefault

Member Function Documentation

◆ addCollisionObject()

void collision_detection_bullet::BulletCastBVHManager::addCollisionObject ( const CollisionObjectWrapperPtr & cow )

overridevirtual

Add a tesseract collision object to the manager.

Parameters

cow	The tesseract bullet collision object

Implements collision_detection_bullet::BulletBVHManager.

Definition at line 177 of file bullet_cast_bvh_manager.cpp.

◆ clone()

BulletCastBVHManagerPtr collision_detection_bullet::BulletCastBVHManager::clone ( ) const

Clone the manager.

This is to be used for multi threaded applications. A user should make a clone for each thread.

Definition at line 69 of file bullet_cast_bvh_manager.cpp.

◆ contactTest()

void collision_detection_bullet::BulletCastBVHManager::contactTest	(	collision_detection::CollisionResult &	collisions,
		const collision_detection::CollisionRequest &	req,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	self = `false`
	)

overridevirtual

Perform a contact test for all objects.

Parameters

collisions	The Contact results data
req	The collision request data
acm	The allowed collision matrix

Implements collision_detection_bullet::BulletBVHManager.

Definition at line 161 of file bullet_cast_bvh_manager.cpp.

◆ setCastCollisionObjectsTransform()

void collision_detection_bullet::BulletCastBVHManager::setCastCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose1,
		const Eigen::Isometry3d &	pose2
	)

Set a single cast (moving) collision object's tansforms.

This should only be used for moving objects.

Parameters

name	The name of the object
pose1	The start tranformation in world
pose2	The end tranformation in world

Definition at line 91 of file bullet_cast_bvh_manager.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BulletCastBVHManager()

◆ ~BulletCastBVHManager()

Member Function Documentation

◆ addCollisionObject()

◆ clone()

◆ contactTest()

◆ setCastCollisionObjectsTransform()