collision_env_allvalid.h
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34 
35 /* Author: Ioan Sucan, Jia Pan, Jens Petit */
36 
37 #pragma once
38 
40 
41 namespace collision_detection
42 {
46 class CollisionEnvAllValid : public CollisionEnv
47 {
48 public:
49  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding = 0.0, double scale = 1.0);
50  CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world, double padding = 0.0,
51  double scale = 1.0);
52  CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world);
53 
54  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
55  const moveit::core::RobotState& state) const override;
56  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
57  const AllowedCollisionMatrix& acm) const override;
58  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
59  const moveit::core::RobotState& state2) const override;
60  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
61  const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
62 
63  virtual double distanceRobot(const moveit::core::RobotState& state) const;
64  virtual double distanceRobot(const moveit::core::RobotState& state, const AllowedCollisionMatrix& acm) const;
65  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
66  const moveit::core::RobotState& state) const override;
67 
68  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
69  const moveit::core::RobotState& state) const override;
70  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
71  const AllowedCollisionMatrix& acm) const override;
72 
73  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
74  const moveit::core::RobotState& state) const override;
75 };
76 } // namespace collision_detection
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:83
collision_detection::CollisionEnvAllValid::checkRobotCollision
void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Definition: collision_env_allvalid.cpp:96
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid
CollisionEnvAllValid(const moveit::core::RobotModelConstPtr &robot_model, double padding=0.0, double scale=1.0)
Definition: collision_env_allvalid.cpp:79
collision_env.h
collision_detection::CollisionEnvAllValid::distanceSelf
void distanceSelf(const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const override
The distance to self-collision given the robot is at state state.
Definition: collision_env_allvalid.cpp:166
collision_detection::CollisionEnvAllValid::checkSelfCollision
void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
Check for robot self collision. Any collision between any pair of links is checked for,...
Definition: collision_env_allvalid.cpp:149
collision_detection::CollisionEnv::CollisionEnv
CollisionEnv()=delete
collision_detection::CollisionEnvAllValid::distanceRobot
virtual double distanceRobot(const moveit::core::RobotState &state) const
Definition: collision_env_allvalid.cpp:138
collision_detection
Definition: collision_detector_allocator_allvalid.h:42


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat May 21 2022 02:24:56