Tesseract bullet collision object. More...

#include <bullet_utils.h>

Inheritance diagram for collision_detection_bullet::CollisionObjectWrapper:

Public Member Functions
std::shared_ptr< CollisionObjectWrapper >	clone ()
	Clones the collision objects but not the collision shape wich is const. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, bool active=true)
	Standard constructor. More...

	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, const std::set< std::string > &touch_links)
	Constructor for attached robot objects. More...

void	getAABB (btVector3 &aabb_min, btVector3 &aabb_max) const
	Get the collision objects axis aligned bounding box. More...

const std::string &	getName () const
	Get the collision object name. More...

const collision_detection::BodyType &	getTypeID () const
	Get a user defined type. More...

template<class T >
void	manage (std::shared_ptr< T > t)
	Manage memory of a shared pointer shape. More...

template<class T >
void	manage (T *t)
	Manage memory of a raw pointer shape. More...

bool	sameObject (const CollisionObjectWrapper &other) const
	Check if two CollisionObjectWrapper objects point to the same source object. More...

Public Attributes
short int	m_collisionFilterGroup
	Bitfield specifies to which group the object belongs. More...

short int	m_collisionFilterMask
	Bitfield specifies against which other groups the object is collision checked. More...

bool	m_enabled { true }
	Indicates if the collision object is used for a collision check. More...

std::set< std::string >	m_touch_links
	The robot links the collision objects is allowed to touch. More...

Protected Member Functions
	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, const std::vector< std::shared_ptr< void >> &data)
	Special constructor used by the clone method. More...

Protected Attributes
std::vector< CollisionObjectType >	m_collision_object_types
	The shape collision object type to be used. More...

std::vector< std::shared_ptr< void > >	m_data
	Manages the collision shape pointer so they get destroyed. More...

std::string	m_name
	The name of the object, must be unique. More...

AlignedVector< Eigen::Isometry3d >	m_shape_poses
	The poses of the shapes, must be same length as m_shapes. More...

std::vector< shapes::ShapeConstPtr >	m_shapes
	The shapes that define the collison object. More...

collision_detection::BodyType	m_type_id

Detailed Description

Tesseract bullet collision object.

A wrapper around bullet's collision object which contains specific information related to bullet. One of the main differences is that a bullet collision object has a single world transformation and all shapes have transformation relative to this world transform. The default collision object category is active and active objects are checked against active objects and static objects whereas static objects are only checked against active ones.

Definition at line 173 of file bullet_utils.h.

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		bool	active = `true`
	)

Standard constructor.

Parameters

shape_poses Assumes all poses are in a single global frame

Definition at line 298 of file bullet_utils.cpp.

◆ CollisionObjectWrapper() [2/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		const std::set< std::string > &	touch_links
	)

Constructor for attached robot objects.

Parameters

shape_poses These poses are in the global (planning) frame

Definition at line 364 of file bullet_utils.cpp.

◆ CollisionObjectWrapper() [3/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		const std::vector< std::shared_ptr< void >> &	data
	)

protected

Special constructor used by the clone method.

Definition at line 374 of file bullet_utils.cpp.

Member Function Documentation

◆ clone()

std::shared_ptr<CollisionObjectWrapper> collision_detection_bullet::CollisionObjectWrapper::clone ( )

inline

Clones the collision objects but not the collision shape wich is const.

Returns: Shared Pointer to the cloned collision object

Definition at line 245 of file bullet_utils.h.

◆ getAABB()

void collision_detection_bullet::CollisionObjectWrapper::getAABB	(	btVector3 &	aabb_min,
		btVector3 &	aabb_max
	)		const

inline

Get the collision objects axis aligned bounding box.

Parameters

aabb_min	The minimum point
aabb_max	The maximum point

Definition at line 233 of file bullet_utils.h.

◆ getName()

const std::string& collision_detection_bullet::CollisionObjectWrapper::getName ( ) const

inline

Get the collision object name.

Definition at line 208 of file bullet_utils.h.

◆ getTypeID()

const collision_detection::BodyType& collision_detection_bullet::CollisionObjectWrapper::getTypeID ( ) const

inline

Get a user defined type.

Definition at line 214 of file bullet_utils.h.

◆ manage() [1/2]

template<class T >

void collision_detection_bullet::CollisionObjectWrapper::manage ( std::shared_ptr< T > t )

inline

Manage memory of a shared pointer shape.

Definition at line 269 of file bullet_utils.h.

◆ manage() [2/2]

template<class T >

void collision_detection_bullet::CollisionObjectWrapper::manage ( T * t )

inline

Manage memory of a raw pointer shape.

Definition at line 262 of file bullet_utils.h.

◆ sameObject()

bool collision_detection_bullet::CollisionObjectWrapper::sameObject ( const CollisionObjectWrapper & other ) const

inline

Check if two CollisionObjectWrapper objects point to the same source object.

Returns: True if same objects, false otherwise

Definition at line 221 of file bullet_utils.h.

Member Data Documentation

◆ m_collision_object_types

std::vector<CollisionObjectType> collision_detection_bullet::CollisionObjectWrapper::m_collision_object_types

protected

The shape collision object type to be used.

Definition at line 294 of file bullet_utils.h.

◆ m_collisionFilterGroup

short int collision_detection_bullet::CollisionObjectWrapper::m_collisionFilterGroup

Bitfield specifies to which group the object belongs.

Definition at line 196 of file bullet_utils.h.

◆ m_collisionFilterMask

short int collision_detection_bullet::CollisionObjectWrapper::m_collisionFilterMask

Bitfield specifies against which other groups the object is collision checked.

Definition at line 199 of file bullet_utils.h.

◆ m_data

std::vector<std::shared_ptr<void> > collision_detection_bullet::CollisionObjectWrapper::m_data

protected

Manages the collision shape pointer so they get destroyed.

Definition at line 297 of file bullet_utils.h.

◆ m_enabled

bool collision_detection_bullet::CollisionObjectWrapper::m_enabled { true }

Indicates if the collision object is used for a collision check.

Definition at line 202 of file bullet_utils.h.

◆ m_name

std::string collision_detection_bullet::CollisionObjectWrapper::m_name

protected

The name of the object, must be unique.

Definition at line 283 of file bullet_utils.h.

◆ m_shape_poses

AlignedVector<Eigen::Isometry3d> collision_detection_bullet::CollisionObjectWrapper::m_shape_poses

protected

The poses of the shapes, must be same length as m_shapes.

Definition at line 291 of file bullet_utils.h.

◆ m_shapes

std::vector<shapes::ShapeConstPtr> collision_detection_bullet::CollisionObjectWrapper::m_shapes

protected

The shapes that define the collison object.

Definition at line 288 of file bullet_utils.h.

◆ m_touch_links

std::set<std::string> collision_detection_bullet::CollisionObjectWrapper::m_touch_links

The robot links the collision objects is allowed to touch.

Definition at line 205 of file bullet_utils.h.

◆ m_type_id

collision_detection::BodyType collision_detection_bullet::CollisionObjectWrapper::m_type_id

protected

Definition at line 285 of file bullet_utils.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/3]

◆ CollisionObjectWrapper() [2/3]

◆ CollisionObjectWrapper() [3/3]

Member Function Documentation

◆ clone()

◆ getAABB()

◆ getName()

◆ getTypeID()

◆ manage() [1/2]

◆ manage() [2/2]

◆ sameObject()

Member Data Documentation

◆ m_collision_object_types

◆ m_collisionFilterGroup

◆ m_collisionFilterMask

◆ m_data

◆ m_enabled

◆ m_name

◆ m_shape_poses

◆ m_shapes

◆ m_touch_links

◆ m_type_id