A class describing an environment for a kinematic robot using ODE. More...

#include <environmentODE.h>

Inheritance diagram for collision_space::EnvironmentModelODE:

Classes
struct	AttGeom
struct	CollisionData
struct	CollisionNamespace
struct	LinkGeom
struct	ModelInfo
class	ODECollide2
struct	ODEStorage
	Structure for maintaining ODE temporary data. More...
Public Member Functions
virtual void	addObject (const std::string &ns, shapes::StaticShape *shape)
	Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObject (const std::string &ns, shapes::Shape *shape, const tf::Transform &pose)
	Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObjects (const std::string &ns, const std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses)
	Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.
virtual void	clearObjects (void)
	Remove all objects from collision model.
virtual void	clearObjects (const std::string &ns)
	Remove objects from a specific namespace in the collision model.
virtual EnvironmentModel *	clone (void) const
	Clone the environment.
	EnvironmentModelODE (void)
virtual bool	getAllCollisionContacts (std::vector< Contact > &contacts, unsigned int num_per_contact=1) const
	This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.
virtual bool	getAllObjectEnvironmentCollisionContacts (const std::string &object_name, std::vector< Contact > &contacts, unsigned int num_contacts_per_pair) const
virtual void	getAttachedBodyPoses (std::map< std::string, std::vector< tf::Transform > > &pose_map) const
virtual bool	getCollisionContacts (std::vector< Contact > &contacts, unsigned int max_total=1, unsigned int max_per_pair=1) const
	Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that's in collision.
virtual bool	hasObject (const std::string &ns) const
	Tells whether or not there is an object with the given name in the collision model.
virtual bool	isCollision (void) const
	Check if a model is in collision.
virtual bool	isEnvironmentCollision (void) const
	Check if a model is in environment collision.
virtual bool	isObjectInEnvironmentCollision (const std::string &object_name) const
	Check if an object is in collision with the other static objects.
virtual bool	isObjectObjectCollision (const std::string &object1_name, const std::string &object2_name) const
	Check if two static objects are in collision.
virtual bool	isObjectRobotCollision (const std::string &object_name) const
	Check if a single static object is in collision with the robot.
virtual bool	isSelfCollision (void) const
	Check if a model is in self collision.
virtual void	revertAlteredLinkPadding ()
virtual void	setAlteredLinkPadding (const std::map< std::string, double > &link_padding_map)
virtual void	setRobotModel (const planning_models::KinematicModel *model, const AllowedCollisionMatrix &allowed_collision_matrix, const std::map< std::string, double > &link_padding_map, double default_padding=0.0, double scale=1.0)
	Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.
virtual void	updateAttachedBodies (void)
	Update the set of bodies that are attached to the robot (re-creates them)
virtual void	updateAttachedBodies (const std::map< std::string, double > &link_padding_map)
	Update the set of bodies that are attached to the robot (re-creates them) using the indicated padding or default if non-specified.
virtual void	updateRobotModel (const planning_models::KinematicState *state)
	Update the positions of the geometry used in collision detection.
virtual	~EnvironmentModelODE (void)
Protected Member Functions
void	addAttachedBody (LinkGeom lg, const planning_models::KinematicModel::AttachedBodyModel attm, double padd)
void	checkThreadInit (void) const
dGeomID	copyGeom (dSpaceID space, ODEStorage &storage, dGeomID geom, ODEStorage &sourceStorage) const
dGeomID	createODEGeom (dSpaceID space, ODEStorage &storage, const shapes::Shape *shape, double scale, double padding)
dGeomID	createODEGeom (dSpaceID space, ODEStorage &storage, const shapes::StaticShape *shape)
void	createODERobotModel ()
void	freeMemory (void)
void	revertAttachedBodiesLinkPadding ()
void	setAttachedBodiesLinkPadding ()
void	testCollision (CollisionData *data) const
	Internal function for collision detection.
void	testEnvironmentCollision (CollisionData *data) const
	Internal function for collision detection.
void	testObjectCollision (CollisionNamespace cn, CollisionData data) const
	Internal function for collision detection.
void	testObjectEnvironmentCollision (CollisionData *cdata, const std::string &object_name) const
	Test collision between an object and all other static objects.
void	testObjectObjectCollision (CollisionData *cdata, const std::string &object1_name, const std::string &object2_name) const
	Test collision between two static objects.
void	testSelfCollision (CollisionData *data) const
	Internal function for collision detection.
void	updateGeom (dGeomID geom, const tf::Transform &pose) const
Protected Attributes
std::map< std::string, bool >	attached_bodies_in_collision_matrix_
std::map< std::string, CollisionNamespace * >	coll_namespaces_
std::map< std::string, dSpaceID >	dspace_lookup_map_
std::map< dGeomID, std::pair < std::string, BodyType > >	geom_lookup_map_
ModelInfo	model_geom_
bool	previous_set_robot_model_
Friends
void	nearCallbackFn (void *data, dGeomID o1, dGeomID o2)

Detailed Description

A class describing an environment for a kinematic robot using ODE.

Definition at line 48 of file environmentODE.h.

Constructor & Destructor Documentation

collision_space::EnvironmentModelODE::EnvironmentModelODE ( void )

Definition at line 60 of file environmentODE.cpp.

collision_space::EnvironmentModelODE::~EnvironmentModelODE ( void ) [virtual]

Definition at line 81 of file environmentODE.cpp.

Member Function Documentation

void collision_space::EnvironmentModelODE::addAttachedBody	(	LinkGeom *	lg,
		const planning_models::KinematicModel::AttachedBodyModel *	attm,
		double	padd
	)		`[protected]`

Definition at line 387 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::addObject	(	const std::string &	ns,
		shapes::StaticShape *	shape
	)		`[virtual]`

Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 1302 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::addObject	(	const std::string &	ns,
		shapes::Shape *	shape,
		const tf::Transform &	pose
	)		`[virtual]`

Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 1279 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::addObjects	(	const std::string &	ns,
		const std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses
	)		`[virtual]`

Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 1247 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::checkThreadInit ( void ) const [protected]

Definition at line 115 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::clearObjects ( void ) [virtual]

Remove all objects from collision model.

Implements collision_space::EnvironmentModel.

Definition at line 1323 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::clearObjects ( const std::string & ns ) [virtual]

Remove objects from a specific namespace in the collision model.

Implements collision_space::EnvironmentModel.

Definition at line 1334 of file environmentODE.cpp.

collision_space::EnvironmentModel * collision_space::EnvironmentModelODE::clone ( void ) const [virtual]

Clone the environment.

Implements collision_space::EnvironmentModel.

Definition at line 1421 of file environmentODE.cpp.

dGeomID collision_space::EnvironmentModelODE::copyGeom	(	dSpaceID	space,
		ODEStorage &	storage,
		dGeomID	geom,
		ODEStorage &	sourceStorage
	)		const `[protected]`

Definition at line 1346 of file environmentODE.cpp.

dGeomID collision_space::EnvironmentModelODE::createODEGeom	(	dSpaceID	space,
		ODEStorage &	storage,
		const shapes::Shape *	shape,
		double	scale,
		double	padding
	)		`[protected]`

Definition at line 239 of file environmentODE.cpp.

dGeomID collision_space::EnvironmentModelODE::createODEGeom	(	dSpaceID	space,
		ODEStorage &	storage,
		const shapes::StaticShape *	shape
	)		`[protected]`

Definition at line 222 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::createODERobotModel ( ) [protected]

Definition at line 177 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::freeMemory ( void ) [protected]

Definition at line 99 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::getAllCollisionContacts	(	std::vector< Contact > &	contacts,
		unsigned int	num_per_contact = `1`
	)		const `[virtual]`

This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned.

Implements collision_space::EnvironmentModel.

Definition at line 957 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::getAllObjectEnvironmentCollisionContacts	(	const std::string &	object_name,
		std::vector< Contact > &	contacts,
		unsigned int	num_contacts_per_pair
	)		const `[virtual]`

Implements collision_space::EnvironmentModel.

Definition at line 1063 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::getAttachedBodyPoses ( std::map< std::string, std::vector< tf::Transform > > & pose_map ) const [virtual]

Implements collision_space::EnvironmentModel.

Definition at line 151 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::getCollisionContacts	(	std::vector< Contact > &	contacts,
		unsigned int	max_total = `1`,
		unsigned int	max_per_pair = `1`
	)		const `[virtual]`

Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that's in collision.

Implements collision_space::EnvironmentModel.

Definition at line 939 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::hasObject ( const std::string & ns ) const [virtual]

Tells whether or not there is an object with the given name in the collision model.

Implements collision_space::EnvironmentModel.

Definition at line 1239 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isCollision ( void ) const [virtual]

Check if a model is in collision.

Implements collision_space::EnvironmentModel.

Definition at line 975 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isEnvironmentCollision ( void ) const [virtual]

Check if a model is in environment collision.

Implements collision_space::EnvironmentModel.

Definition at line 1005 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isObjectInEnvironmentCollision ( const std::string & object_name ) const [virtual]

Check if an object is in collision with the other static objects.

Implements collision_space::EnvironmentModel.

Definition at line 1050 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isObjectObjectCollision	(	const std::string &	object1_name,
		const std::string &	object2_name
	)		const `[virtual]`

Check if two static objects are in collision.

Implements collision_space::EnvironmentModel.

Definition at line 1036 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isObjectRobotCollision ( const std::string & object_name ) const [virtual]

Check if a single static object is in collision with the robot.

Implements collision_space::EnvironmentModel.

Definition at line 1018 of file environmentODE.cpp.

bool collision_space::EnvironmentModelODE::isSelfCollision ( void ) const [virtual]

Check if a model is in self collision.

Implements collision_space::EnvironmentModel.

Definition at line 992 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::revertAlteredLinkPadding ( ) [virtual]

Reverts link padding to that set at robot initialization

Reimplemented from collision_space::EnvironmentModel.

Definition at line 537 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::revertAttachedBodiesLinkPadding ( ) [protected]

Definition at line 452 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::setAlteredLinkPadding ( const std::map< std::string, double > & link_padding_map ) [virtual]

Sets a temporary robot padding on the indicated links

Reimplemented from collision_space::EnvironmentModel.

Definition at line 501 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::setAttachedBodiesLinkPadding ( ) [protected]

Definition at line 425 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::setRobotModel	(	const planning_models::KinematicModel *	model,
		const AllowedCollisionMatrix &	allowed_collision_matrix,
		const std::map< std::string, double > &	link_padding_map,
		double	default_padding = `0.0`,
		double	scale = `1.0`
	)		`[virtual]`

Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.

Reimplemented from collision_space::EnvironmentModel.

Definition at line 129 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testCollision ( CollisionData * data ) const [protected]

Internal function for collision detection.

Definition at line 1220 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testEnvironmentCollision ( CollisionData * data ) const [protected]

Internal function for collision detection.

Definition at line 1231 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testObjectCollision	(	CollisionNamespace *	cn,
		CollisionData *	data
	)		const `[protected]`

Internal function for collision detection.

Definition at line 1130 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testObjectEnvironmentCollision	(	CollisionData *	cdata,
		const std::string &	object_name
	)		const `[protected]`

Test collision between an object and all other static objects.

Definition at line 1081 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testObjectObjectCollision	(	CollisionData *	cdata,
		const std::string &	object1_name,
		const std::string &	object2_name
	)		const `[protected]`

Test collision between two static objects.

Definition at line 1091 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::testSelfCollision ( CollisionData * data ) const [protected]

Internal function for collision detection.

Definition at line 1226 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::updateAttachedBodies ( void ) [virtual]

Update the set of bodies that are attached to the robot (re-creates them)

Implements collision_space::EnvironmentModel.

Definition at line 342 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::updateAttachedBodies ( const std::map< std::string, double > & link_padding_map ) [virtual]

Update the set of bodies that are attached to the robot (re-creates them) using the indicated padding or default if non-specified.

Definition at line 347 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::updateGeom	(	dGeomID	geom,
		const tf::Transform &	pose
	)		const `[protected]`

Definition at line 332 of file environmentODE.cpp.

void collision_space::EnvironmentModelODE::updateRobotModel ( const planning_models::KinematicState * state ) [virtual]

Update the positions of the geometry used in collision detection.

Implements collision_space::EnvironmentModel.

Definition at line 479 of file environmentODE.cpp.

Friends And Related Function Documentation

void nearCallbackFn	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)		`[friend]`

Definition at line 755 of file environmentODE.cpp.

Member Data Documentation

std::map<std::string, bool> collision_space::EnvironmentModelODE::attached_bodies_in_collision_matrix_ [protected]

Definition at line 455 of file environmentODE.h.

std::map<std::string, CollisionNamespace*> collision_space::EnvironmentModelODE::coll_namespaces_ [protected]

Definition at line 463 of file environmentODE.h.

std::map<std::string, dSpaceID> collision_space::EnvironmentModelODE::dspace_lookup_map_ [protected]

Definition at line 466 of file environmentODE.h.

std::map<dGeomID, std::pair<std::string, BodyType> > collision_space::EnvironmentModelODE::geom_lookup_map_ [protected]

Definition at line 465 of file environmentODE.h.

ModelInfo collision_space::EnvironmentModelODE::model_geom_ [protected]

Definition at line 462 of file environmentODE.h.

bool collision_space::EnvironmentModelODE::previous_set_robot_model_ [protected]

Definition at line 468 of file environmentODE.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation