collision_proximity::CollisionProximitySpace Class Reference

#include <collision_proximity_space.h>

List of all members.

Public Types
enum	TrajectoryPointType { StartCollision, EndCollision, Middle, None }
enum	TrajectorySafety {   ErrorUnsafe, StartUnsafe, MiddleUnsafe, EndUnsafe,   MeshToMeshSafe, InCollisionSafe }
Public Member Functions
	CollisionProximitySpace (const std::string &robot_description_name, bool register_with_environment_server=true, bool use_signed_environment_field=false, bool use_signed_self_field=false)
planning_environment::CollisionModelsInterface *	getCollisionModelsInterface () const
std::vector< std::string >	getCurrentAttachedBodyNames () const
const std::string &	getCurrentGroupName () const
std::vector< std::string >	getCurrentLinkNames () const
bool	getEnvironmentCollisions (std::vector< bool > &collisions, bool stop_at_first=false) const
bool	getEnvironmentProximityGradients (std::vector< GradientInfo > &gradients, bool subtract_radii=false) const
bool	getIntraGroupCollisions (std::vector< bool > &collisions, bool stop_at_first=false) const
bool	getIntraGroupProximityGradients (std::vector< GradientInfo > &gradients, bool subtract_radii=false) const
tf::Transform	getInverseWorldTransform (const planning_models::KinematicState &state) const
void	getProximityGradientMarkers (const std::vector< std::string > &link_names, const std::vector< std::string > &attached_body_names, const std::vector< GradientInfo > &gradients, const std::string &ns, visualization_msgs::MarkerArray &arr) const
bool	getSelfCollisions (std::vector< bool > &collisions, bool stop_at_first=false) const
bool	getSelfProximityGradients (std::vector< GradientInfo > &gradients, bool subtract_radii=false) const
bool	getStateCollisions (bool &in_collision, std::vector< CollisionType > &collisions) const
bool	getStateGradients (std::vector< GradientInfo > &gradients, bool subtract_radii=false) const
bool	isEnvironmentCollision () const
bool	isIntraGroupCollision () const
bool	isSelfCollision () const
bool	isStateInCollision () const
TrajectorySafety	isTrajectorySafe (const trajectory_msgs::JointTrajectory &trajectory, const arm_navigation_msgs::Constraints &goal_constraints, const arm_navigation_msgs::Constraints &path_constraints, const std::string &groupName)
void	revertAfterGroupQueries ()
void	revertPlanningSceneCallback ()
void	setCollisionTolerance (double tol)
void	setCurrentGroupState (const planning_models::KinematicState &state)
bool	setPlanningScene (const arm_navigation_msgs::PlanningScene &planning_scene)
void	setPlanningSceneCallback (const arm_navigation_msgs::PlanningScene &scene)
void	setupForGroupQueries (const std::string &group_name, const arm_navigation_msgs::RobotState &rob_state, std::vector< std::string > &link_names, std::vector< std::string > &attached_body_names)
void	visualizeBoundingCylinders (const std::vector< std::string > &object_names) const
void	visualizeCollisions (const std::vector< std::string > &link_names, const std::vector< std::string > &attached_body_names, const std::vector< CollisionType > collisions) const
void	visualizeDistanceField (distance_field::DistanceField< distance_field::PropDistanceFieldVoxel > *distance_field) const
void	visualizeDistanceFieldPlane (distance_field::DistanceField< distance_field::PropDistanceFieldVoxel > *distance_field) const
void	visualizeObjectSpheres (const std::vector< std::string > &object_names) const
void	visualizeObjectVoxels (const std::vector< std::string > &object_names) const
	~CollisionProximitySpace ()
Private Member Functions
void	deleteAllAttachedObjectDecompositions ()
void	deleteAllStaticObjectDecompositions ()
bool	getGroupLinkAndAttachedBodyNames (const std::string &group_name, const planning_models::KinematicState &state, std::vector< std::string > &link_names, std::vector< unsigned int > &link_indices, std::vector< std::string > &attached_body_names, std::vector< unsigned int > &attached_body_link_indices) const
void	loadDefaultCollisionOperations ()
void	loadRobotBodyDecompositions ()
void	prepareEnvironmentDistanceField (const planning_models::KinematicState &state)
void	prepareSelfDistanceField (const std::vector< std::string > &link_names, const planning_models::KinematicState &state)
void	setBodyPosesGivenKinematicState (const planning_models::KinematicState &state)
void	setBodyPosesToCurrent ()
void	setDistanceFieldForGroupQueries (const std::string &group_name, const planning_models::KinematicState &state)
bool	setupGradientStructures (const std::vector< std::string > &link_names, const std::vector< std::string > &attached_body_names, std::vector< GradientInfo > &gradients) const
void	syncObjectsWithCollisionSpace (const planning_models::KinematicState &state)
bool	updateSphereLocations (const std::vector< std::string > &link_names, const std::vector< std::string > &attached_body_names, std::vector< GradientInfo > &gradients)
Private Attributes
std::map< std::string, std::map< std::string, bool > >	attached_object_collision_links_
std::map< std::string, BodyDecompositionVector * >	attached_object_map_
std::map< std::string, BodyDecomposition * >	body_decomposition_map_
planning_environment::CollisionModelsInterface *	collision_models_interface_
std::vector< std::vector < double > >	colors_
std::vector < BodyDecompositionVector * >	current_attached_body_decompositions_
std::vector< unsigned int >	current_attached_body_indices_
std::vector< std::string >	current_attached_body_names_
std::vector< GradientInfo >	current_gradients_
std::string	current_group_name_
std::vector< std::vector< bool > >	current_intra_group_collision_links_
std::vector< BodyDecomposition * >	current_link_body_decompositions_
std::vector< unsigned int >	current_link_indices_
std::vector< std::string >	current_link_names_
std::vector< bool >	current_self_excludes_
std::map< std::string, std::map< std::string, bool > >	enabled_self_collision_links_
distance_field::DistanceField < distance_field::PropDistanceFieldVoxel > *	environment_distance_field_
boost::recursive_mutex	group_queries_lock_
std::map< std::string, std::map< std::string, bool > >	intra_group_collision_links_
double	max_environment_distance_
double	max_self_distance_
double	origin_x_
double	origin_y_
double	origin_z_
ros::NodeHandle	priv_handle_
double	resolution_
ros::NodeHandle	root_handle_
distance_field::DistanceField < distance_field::PropDistanceFieldVoxel > *	self_distance_field_
std::map< std::string, bool >	self_excludes_
double	size_x_
double	size_y_
double	size_z_
std::map< std::string, BodyDecompositionVector * >	static_object_map_
double	tolerance_
double	undefined_distance_
ros::Publisher	vis_distance_field_marker_publisher_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_

---

Detailed Description

Definition at line 58 of file collision_proximity_space.h.

---

Member Enumeration Documentation

enum collision_proximity::CollisionProximitySpace::TrajectoryPointType

Enumerator:

StartCollision
EndCollision
Middle
None

Definition at line 63 of file collision_proximity_space.h.

enum collision_proximity::CollisionProximitySpace::TrajectorySafety

Enumerator:

ErrorUnsafe
StartUnsafe
MiddleUnsafe
EndUnsafe
MeshToMeshSafe
InCollisionSafe

Definition at line 68 of file collision_proximity_space.h.

---

Constructor & Destructor Documentation

CollisionProximitySpace::CollisionProximitySpace	(	const std::string &	robot_description_name,
		bool	register_with_environment_server = true,
		bool	use_signed_environment_field = false,
		bool	use_signed_self_field = false
	)

Definition at line 64 of file collision_proximity_space.cpp.

CollisionProximitySpace::~CollisionProximitySpace

(

)

Definition at line 124 of file collision_proximity_space.cpp.

---

Member Function Documentation

void CollisionProximitySpace::deleteAllAttachedObjectDecompositions

(

)

[private]

Definition at line 148 of file collision_proximity_space.cpp.

void CollisionProximitySpace::deleteAllStaticObjectDecompositions

(

)

[private]

Definition at line 138 of file collision_proximity_space.cpp.

planning_environment::CollisionModelsInterface* collision_proximity::CollisionProximitySpace::getCollisionModelsInterface

(

)

const [inline]

Definition at line 169 of file collision_proximity_space.h.

std::vector<std::string> collision_proximity::CollisionProximitySpace::getCurrentAttachedBodyNames

(

)

const [inline]

Definition at line 184 of file collision_proximity_space.h.

const std::string& collision_proximity::CollisionProximitySpace::getCurrentGroupName

(

)

const [inline]

Definition at line 175 of file collision_proximity_space.h.

std::vector<std::string> collision_proximity::CollisionProximitySpace::getCurrentLinkNames

(

)

const [inline]

Definition at line 179 of file collision_proximity_space.h.

bool CollisionProximitySpace::getEnvironmentCollisions	(	std::vector< bool > &	collisions,
		bool	stop_at_first = false
	)		const

Definition at line 1094 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getEnvironmentProximityGradients	(	std::vector< GradientInfo > &	gradients,
		bool	subtract_radii = false
	)		const

Definition at line 1123 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getGroupLinkAndAttachedBodyNames	(	const std::string &	group_name,
		const planning_models::KinematicState &	state,
		std::vector< std::string > &	link_names,
		std::vector< unsigned int > &	link_indices,
		std::vector< std::string > &	attached_body_names,
		std::vector< unsigned int > &	attached_body_link_indices
	)		const [private]

Definition at line 660 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getIntraGroupCollisions	(	std::vector< bool > &	collisions,
		bool	stop_at_first = false
	)		const

Definition at line 928 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getIntraGroupProximityGradients	(	std::vector< GradientInfo > &	gradients,
		bool	subtract_radii = false
	)		const

Definition at line 968 of file collision_proximity_space.cpp.

tf::Transform CollisionProximitySpace::getInverseWorldTransform

(

const planning_models::KinematicState &

state

)

const

Definition at line 439 of file collision_proximity_space.cpp.

void CollisionProximitySpace::getProximityGradientMarkers	(	const std::vector< std::string > &	link_names,
		const std::vector< std::string > &	attached_body_names,
		const std::vector< GradientInfo > &	gradients,
		const std::string &	ns,
		visualization_msgs::MarkerArray &	arr
	)		const

Definition at line 1147 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getSelfCollisions	(	std::vector< bool > &	collisions,
		bool	stop_at_first = false
	)		const

Definition at line 1033 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getSelfProximityGradients	(	std::vector< GradientInfo > &	gradients,
		bool	subtract_radii = false
	)		const

Definition at line 1062 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getStateCollisions	(	bool &	in_collision,
		std::vector< CollisionType > &	collisions
	)		const

Definition at line 802 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::getStateGradients	(	std::vector< GradientInfo > &	gradients,
		bool	subtract_radii = false
	)		const

Definition at line 826 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::isEnvironmentCollision

(

void

)

const

Definition at line 1088 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::isIntraGroupCollision

(

)

const

Definition at line 922 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::isSelfCollision

(

void

)

const

Definition at line 1027 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::isStateInCollision

(

)

const

Definition at line 795 of file collision_proximity_space.cpp.

CollisionProximitySpace::TrajectorySafety CollisionProximitySpace::isTrajectorySafe	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const arm_navigation_msgs::Constraints &	goal_constraints,
		const arm_navigation_msgs::Constraints &	path_constraints,
		const std::string &	groupName
	)

Definition at line 1207 of file collision_proximity_space.cpp.

void CollisionProximitySpace::loadDefaultCollisionOperations

(

)

[private]

Definition at line 161 of file collision_proximity_space.cpp.

void CollisionProximitySpace::loadRobotBodyDecompositions

(

)

[private]

Definition at line 249 of file collision_proximity_space.cpp.

void CollisionProximitySpace::prepareEnvironmentDistanceField

(

const planning_models::KinematicState &

state

)

[private]

Definition at line 505 of file collision_proximity_space.cpp.

void CollisionProximitySpace::prepareSelfDistanceField	(	const std::vector< std::string > &	link_names,
		const planning_models::KinematicState &	state
	)		[private]

Definition at line 526 of file collision_proximity_space.cpp.

void collision_proximity::CollisionProximitySpace::revertAfterGroupQueries

(

)

void CollisionProximitySpace::revertPlanningSceneCallback

(

)

Definition at line 374 of file collision_proximity_space.cpp.

void CollisionProximitySpace::setBodyPosesGivenKinematicState

(

const planning_models::KinematicState &

state

)

[private]

Definition at line 409 of file collision_proximity_space.cpp.

void collision_proximity::CollisionProximitySpace::setBodyPosesToCurrent

(

)

[private]

void collision_proximity::CollisionProximitySpace::setCollisionTolerance

(

double

tol

)

[inline]

Definition at line 189 of file collision_proximity_space.h.

void CollisionProximitySpace::setCurrentGroupState

(

const planning_models::KinematicState &

state

)

Definition at line 384 of file collision_proximity_space.cpp.

void CollisionProximitySpace::setDistanceFieldForGroupQueries	(	const std::string &	group_name,
		const planning_models::KinematicState &	state
	)		[private]

Definition at line 487 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::setPlanningScene

(

const arm_navigation_msgs::PlanningScene &

planning_scene

)

Definition at line 270 of file collision_proximity_space.cpp.

void CollisionProximitySpace::setPlanningSceneCallback

(

const arm_navigation_msgs::PlanningScene &

scene

)

Definition at line 274 of file collision_proximity_space.cpp.

void CollisionProximitySpace::setupForGroupQueries	(	const std::string &	group_name,
		const arm_navigation_msgs::RobotState &	rob_state,
		std::vector< std::string > &	link_names,
		std::vector< std::string > &	attached_body_names
	)

Definition at line 287 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::setupGradientStructures	(	const std::vector< std::string > &	link_names,
		const std::vector< std::string > &	attached_body_names,
		std::vector< GradientInfo > &	gradients
	)		const [private]

Definition at line 749 of file collision_proximity_space.cpp.

void CollisionProximitySpace::syncObjectsWithCollisionSpace

(

const planning_models::KinematicState &

state

)

[private]

Definition at line 449 of file collision_proximity_space.cpp.

bool CollisionProximitySpace::updateSphereLocations	(	const std::vector< std::string > &	link_names,
		const std::vector< std::string > &	attached_body_names,
		std::vector< GradientInfo > &	gradients
	)		[private]

Definition at line 714 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeBoundingCylinders

(

const std::vector< std::string > &

object_names

)

const

Definition at line 1698 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeCollisions	(	const std::vector< std::string > &	link_names,
		const std::vector< std::string > &	attached_body_names,
		const std::vector< CollisionType >	collisions
	)		const

Definition at line 1515 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeDistanceField

(

distance_field::DistanceField< distance_field::PropDistanceFieldVoxel > *

distance_field

)

const

Definition at line 1398 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeDistanceFieldPlane

(

distance_field::DistanceField< distance_field::PropDistanceFieldVoxel > *

distance_field

)

const

Definition at line 1407 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeObjectSpheres

(

const std::vector< std::string > &

object_names

)

const

Definition at line 1648 of file collision_proximity_space.cpp.

void CollisionProximitySpace::visualizeObjectVoxels

(

const std::vector< std::string > &

object_names

)

const

Definition at line 1612 of file collision_proximity_space.cpp.

---

Member Data Documentation

std::map<std::string, std::map<std::string, bool> > collision_proximity::CollisionProximitySpace::attached_object_collision_links_ [private]

Definition at line 265 of file collision_proximity_space.h.

std::map<std::string, BodyDecompositionVector*> collision_proximity::CollisionProximitySpace::attached_object_map_ [private]

Definition at line 261 of file collision_proximity_space.h.

std::map<std::string, BodyDecomposition*> collision_proximity::CollisionProximitySpace::body_decomposition_map_ [private]

Definition at line 259 of file collision_proximity_space.h.

planning_environment::CollisionModelsInterface* collision_proximity::CollisionProximitySpace::collision_models_interface_ [private]

Definition at line 249 of file collision_proximity_space.h.

std::vector<std::vector<double> > collision_proximity::CollisionProximitySpace::colors_ [mutable, private]

Definition at line 244 of file collision_proximity_space.h.

std::vector<BodyDecompositionVector*> collision_proximity::CollisionProximitySpace::current_attached_body_decompositions_ [private]

Definition at line 275 of file collision_proximity_space.h.

std::vector<unsigned int> collision_proximity::CollisionProximitySpace::current_attached_body_indices_ [private]

Definition at line 273 of file collision_proximity_space.h.

std::vector<std::string> collision_proximity::CollisionProximitySpace::current_attached_body_names_ [private]

Definition at line 271 of file collision_proximity_space.h.

std::vector<GradientInfo> collision_proximity::CollisionProximitySpace::current_gradients_ [private]

Definition at line 280 of file collision_proximity_space.h.

std::string collision_proximity::CollisionProximitySpace::current_group_name_ [private]

Definition at line 269 of file collision_proximity_space.h.

std::vector<std::vector<bool> > collision_proximity::CollisionProximitySpace::current_intra_group_collision_links_ [private]

Definition at line 276 of file collision_proximity_space.h.

std::vector<BodyDecomposition*> collision_proximity::CollisionProximitySpace::current_link_body_decompositions_ [private]

Definition at line 274 of file collision_proximity_space.h.

std::vector<unsigned int> collision_proximity::CollisionProximitySpace::current_link_indices_ [private]

Definition at line 272 of file collision_proximity_space.h.

std::vector<std::string> collision_proximity::CollisionProximitySpace::current_link_names_ [private]

Definition at line 270 of file collision_proximity_space.h.

std::vector<bool> collision_proximity::CollisionProximitySpace::current_self_excludes_ [private]

Definition at line 277 of file collision_proximity_space.h.

std::map<std::string, std::map<std::string, bool> > collision_proximity::CollisionProximitySpace::enabled_self_collision_links_ [private]

Definition at line 263 of file collision_proximity_space.h.

distance_field::DistanceField<distance_field::PropDistanceFieldVoxel>* collision_proximity::CollisionProximitySpace::environment_distance_field_ [private]

Definition at line 246 of file collision_proximity_space.h.

boost::recursive_mutex collision_proximity::CollisionProximitySpace::group_queries_lock_ [mutable, private]

Definition at line 257 of file collision_proximity_space.h.

std::map<std::string, std::map<std::string, bool> > collision_proximity::CollisionProximitySpace::intra_group_collision_links_ [private]

Definition at line 264 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::max_environment_distance_ [private]

Definition at line 287 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::max_self_distance_ [private]

Definition at line 288 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::origin_x_ [private]

Definition at line 284 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::origin_y_ [private]

Definition at line 284 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::origin_z_ [private]

Definition at line 284 of file collision_proximity_space.h.

ros::NodeHandle collision_proximity::CollisionProximitySpace::priv_handle_ [private]

Definition at line 251 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::resolution_ [private]

Definition at line 285 of file collision_proximity_space.h.

ros::NodeHandle collision_proximity::CollisionProximitySpace::root_handle_ [private]

Definition at line 251 of file collision_proximity_space.h.

distance_field::DistanceField<distance_field::PropDistanceFieldVoxel>* collision_proximity::CollisionProximitySpace::self_distance_field_ [private]

Definition at line 247 of file collision_proximity_space.h.

std::map<std::string, bool> collision_proximity::CollisionProximitySpace::self_excludes_ [private]

Definition at line 266 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::size_x_ [private]

Definition at line 283 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::size_y_ [private]

Definition at line 283 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::size_z_ [private]

Definition at line 283 of file collision_proximity_space.h.

std::map<std::string, BodyDecompositionVector*> collision_proximity::CollisionProximitySpace::static_object_map_ [private]

Definition at line 260 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::tolerance_ [private]

Definition at line 285 of file collision_proximity_space.h.

double collision_proximity::CollisionProximitySpace::undefined_distance_ [private]

Definition at line 289 of file collision_proximity_space.h.

ros::Publisher collision_proximity::CollisionProximitySpace::vis_distance_field_marker_publisher_ [private]

Definition at line 253 of file collision_proximity_space.h.

ros::Publisher collision_proximity::CollisionProximitySpace::vis_marker_array_publisher_ [private]

Definition at line 255 of file collision_proximity_space.h.

ros::Publisher collision_proximity::CollisionProximitySpace::vis_marker_publisher_ [private]

Definition at line 254 of file collision_proximity_space.h.

---

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

• collision_proximity_space.h
• collision_proximity_space.cpp