collision_env.h
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34 
35 /* Author: Ioan Sucan, Jens Petit */
36 
37 #pragma once
38 
42 #include <moveit_msgs/LinkPadding.h>
43 #include <moveit_msgs/LinkScale.h>
45 
46 namespace collision_detection
47 {
48 MOVEIT_CLASS_FORWARD(CollisionEnv); // Defines CollisionEnvPtr, ConstPtr, WeakPtr... etc
49 
51 class CollisionEnv
52 {
53 public:
54  CollisionEnv() = delete;
55 
61  CollisionEnv(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
62 
68  CollisionEnv(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
69  double scale = 1.0);
70 
72  CollisionEnv(const CollisionEnv& other, const WorldPtr& world);
73 
74  virtual ~CollisionEnv()
75  {
76  }
77 
84  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
85  const moveit::core::RobotState& state) const = 0;
86 
93  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
94  const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
95 
101  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res,
102  const moveit::core::RobotState& state) const;
103 
110  virtual void checkCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
111  const AllowedCollisionMatrix& acm) const;
112 
120  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
121  const moveit::core::RobotState& state) const = 0;
122 
130  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
131  const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const = 0;
132 
141  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
142  const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
143  const AllowedCollisionMatrix& acm) const = 0;
144 
153  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
154  const moveit::core::RobotState& state1,
155  const moveit::core::RobotState& state2) const = 0;
156 
161  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
162  const moveit::core::RobotState& state) const = 0;
163 
165  inline double distanceSelf(const moveit::core::RobotState& state) const
166  {
167  DistanceRequest req;
168  DistanceResult res;
169 
170  req.enableGroup(getRobotModel());
171  distanceSelf(req, res, state);
172  return res.minimum_distance.distance;
173  }
174 
177  inline double distanceSelf(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const
178  {
179  DistanceRequest req;
180  DistanceResult res;
181 
182  req.enableGroup(getRobotModel());
183  req.acm = &acm;
184  distanceSelf(req, res, state);
185  return res.minimum_distance.distance;
186  }
187 
192  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res,
193  const moveit::core::RobotState& state) const = 0;
194 
198  inline double distanceRobot(const moveit::core::RobotState& state, bool verbose = false) const
199  {
200  DistanceRequest req;
201  DistanceResult res;
202 
203  req.verbose = verbose;
204  req.enableGroup(getRobotModel());
205 
206  distanceRobot(req, res, state);
207  return res.minimum_distance.distance;
208  }
209 
215  inline double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm,
216  bool verbose = false) const
217  {
218  DistanceRequest req;
219  DistanceResult res;
220 
221  req.acm = &acm;
222  req.verbose = verbose;
223  req.enableGroup(getRobotModel());
224 
225  distanceRobot(req, res, state);
226  return res.minimum_distance.distance;
227  }
228 
232  virtual void setWorld(const WorldPtr& world);
233 
235  const WorldPtr& getWorld()
236  {
237  return world_;
238  }
239 
241  const WorldConstPtr& getWorld() const
242  {
243  return world_const_;
244  }
245 
246  using ObjectPtr = World::ObjectPtr;
247  using ObjectConstPtr = World::ObjectConstPtr;
248 
250  const moveit::core::RobotModelConstPtr& getRobotModel() const
251  {
252  return robot_model_;
253  }
254 
259  void setLinkPadding(const std::string& link_name, double padding);
260 
262  double getLinkPadding(const std::string& link_name) const;
263 
265  void setLinkPadding(const std::map<std::string, double>& padding);
266 
268  const std::map<std::string, double>& getLinkPadding() const;
269 
271  void setLinkScale(const std::string& link_name, double scale);
272 
274  double getLinkScale(const std::string& link_name) const;
275 
277  void setLinkScale(const std::map<std::string, double>& scale);
278 
280  const std::map<std::string, double>& getLinkScale() const;
281 
283  void setPadding(double padding);
284 
286  void setScale(double scale);
287 
289  void setPadding(const std::vector<moveit_msgs::LinkPadding>& padding);
290 
292  void getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const;
293 
295  void setScale(const std::vector<moveit_msgs::LinkScale>& scale);
296 
298  void getScale(std::vector<moveit_msgs::LinkScale>& scale) const;
299 
300 protected:
307  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
308 
310  moveit::core::RobotModelConstPtr robot_model_;
311 
313  std::map<std::string, double> link_padding_;
314 
316  std::map<std::string, double> link_scale_;
317 
318 private:
319  WorldPtr world_; // The world always valid, never nullptr.
320  WorldConstPtr world_const_; // always same as world_
321 };
322 } // namespace collision_detection
collision_detection::CollisionEnv::getScale
void getScale(std::vector< moveit_msgs::LinkScale > &scale) const
Get the link scaling as a vector of messages.
Definition: collision_env.cpp:266
collision_detection::CollisionEnv::world_
WorldPtr world_
Definition: collision_env.h:351
collision_detection::CollisionEnv::getRobotModel
const moveit::core::RobotModelConstPtr & getRobotModel() const
The kinematic model corresponding to this collision model.
Definition: collision_env.h:282
collision_detection::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(AllowedCollisionMatrix)
collision_detection::CollisionEnv::link_padding_
std::map< std::string, double > link_padding_
The internally maintained map (from link names to padding)
Definition: collision_env.h:345
world.h
collision_detection::CollisionEnv::checkRobotCollision
virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const =0
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
collision_detection::CollisionEnv::checkSelfCollision
virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const =0
Check for robot self collision. Any collision between any pair of links is checked for,...
class_forward.h
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
collision_detection::CollisionEnv::checkCollision
virtual void checkCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const
Check whether the robot model is in collision with itself or the world at a particular state....
Definition: collision_env.cpp:291
collision_detection::DistanceRequest::verbose
bool verbose
Log debug information.
Definition: include/moveit/collision_detection/collision_common.h:293
collision_detection::CollisionEnv::setLinkPadding
void setLinkPadding(const std::string &link_name, double padding)
Set the link padding for a particular link.
Definition: collision_env.cpp:143
collision_detection::CollisionEnv::setLinkScale
void setLinkScale(const std::string &link_name, double scale)
Set the scaling for a particular link.
Definition: collision_env.cpp:184
collision_detection::AllowedCollisionMatrix
Definition of a structure for the allowed collision matrix.
Definition: collision_matrix.h:112
collision_detection::CollisionEnv::setPadding
void setPadding(double padding)
Set the link padding (for every link)
Definition: collision_env.cpp:111
collision_detection::CollisionEnv::world_const_
WorldConstPtr world_const_
Definition: collision_env.h:352
collision_matrix.h
collision_detection::DistanceRequest::acm
const AllowedCollisionMatrix * acm
The allowed collision matrix used to filter checks.
Definition: include/moveit/collision_detection/collision_common.h:286
collision_detection::CollisionEnv::ObjectConstPtr
World::ObjectConstPtr ObjectConstPtr
Definition: collision_env.h:279
collision_detection::CollisionEnv::distanceRobot
virtual void distanceRobot(const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const =0
Compute the distance between a robot and the world.
collision_detection::CollisionEnv::setScale
void setScale(double scale)
Set the link scaling (for every link)
Definition: collision_env.cpp:127
collision_detection::CollisionEnv::getLinkScale
const std::map< std::string, double > & getLinkScale() const
Get the link scaling as a map (from link names to scale value)
Definition: collision_env.cpp:219
collision_detection::CollisionEnv::getPadding
void getPadding(std::vector< moveit_msgs::LinkPadding > &padding) const
Get the link padding as a vector of messages.
Definition: collision_env.cpp:254
collision_detection::DistanceResult::minimum_distance
DistanceResultsData minimum_distance
ResultsData for the two objects with the minimum distance.
Definition: include/moveit/collision_detection/collision_common.h:367
collision_detection::CollisionEnv::~CollisionEnv
virtual ~CollisionEnv()
Definition: collision_env.h:106
collision_detection::DistanceResult
Result of a distance request.
Definition: include/moveit/collision_detection/collision_common.h:357
collision_detection::CollisionEnv::getLinkPadding
const std::map< std::string, double > & getLinkPadding() const
Get the link paddings as a map (from link names to padding value)
Definition: collision_env.cpp:179
collision_detection::CollisionEnv::ObjectPtr
World::ObjectPtr ObjectPtr
Definition: collision_env.h:278
collision_detection::DistanceResultsData::distance
double distance
The distance between two objects. If two objects are in collision, distance <= 0.
Definition: include/moveit/collision_detection/collision_common.h:309
collision_detection::CollisionEnv::setWorld
virtual void setWorld(const WorldPtr &world)
Definition: collision_env.cpp:282
collision_detection::DistanceRequest
Representation of a distance-reporting request.
Definition: include/moveit/collision_detection/collision_common.h:241
collision_detection::CollisionEnv::CollisionEnv
CollisionEnv()=delete
collision_detection::DistanceRequest::enableGroup
void enableGroup(const moveit::core::RobotModelConstPtr &robot_model)
Compute active_components_only_ based on req_.
Definition: include/moveit/collision_detection/collision_common.h:257
collision_detection::CollisionEnv::robot_model_
moveit::core::RobotModelConstPtr robot_model_
The kinematic model corresponding to this collision model.
Definition: collision_env.h:342
robot_state.h
collision_detection::CollisionEnv::link_scale_
std::map< std::string, double > link_scale_
The internally maintained map (from link names to scaling)
Definition: collision_env.h:348
collision_detection::CollisionEnv::updatedPaddingOrScaling
virtual void updatedPaddingOrScaling(const std::vector< std::string > &links)
When the scale or padding is changed for a set of links by any of the functions in this class,...
Definition: collision_env.cpp:278
collision_detection::CollisionEnv::getWorld
const WorldPtr & getWorld()
Definition: collision_env.h:267
verbose
bool verbose
collision_detection
Definition: collision_detector_allocator_allvalid.h:42
collision_detection::CollisionEnv::distanceSelf
virtual void distanceSelf(const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const =0
The distance to self-collision given the robot is at state state.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Jul 21 2024 02:24:28