#include <collision_robot_fcl.h>

Inheritance diagram for collision_detection::CollisionRobotFCL:

Public Member Functions
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
	Check for collision with a different robot (possibly a different kinematic model as well). Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const
	Check for collision with a different robot (possibly a different kinematic model as well). Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2, const AllowedCollisionMatrix &acm) const
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const
	Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
	Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored.
virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
	CollisionRobotFCL (const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)
	CollisionRobotFCL (const CollisionRobotFCL &other)
virtual double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
	The distance to another robot instance.
virtual double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const
	The distance to another robot instance, ignoring distances between links that are allowed to always collide.
virtual double	distanceSelf (const robot_state::RobotState &state) const
	The distance to self-collision given the robot is at state state.
virtual double	distanceSelf (const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)
Protected Member Functions
void	allocSelfCollisionBroadPhase (const robot_state::RobotState &state, FCLManager &manager) const
void	checkOtherCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const
void	checkSelfCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const
void	constructFCLObject (const robot_state::RobotState &state, FCLObject &fcl_obj) const
double	distanceOtherHelper (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const
double	distanceSelfHelper (const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const
void	getAttachedBodyObjects (const robot_state::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) const
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, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.
Protected Attributes
std::vector< FCLGeometryConstPtr >	geoms_
std::map< std::string, std::size_t >	index_map_
std::vector< const robot_model::LinkModel * >	links_
Friends
class	CollisionWorldFCL

Detailed Description

Definition at line 45 of file collision_robot_fcl.h.

Constructor & Destructor Documentation

collision_detection::CollisionRobotFCL::CollisionRobotFCL	(	const robot_model::RobotModelConstPtr &	kmodel,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Definition at line 39 of file collision_robot_fcl.cpp.

collision_detection::CollisionRobotFCL::CollisionRobotFCL ( const CollisionRobotFCL & other )

Definition at line 61 of file collision_robot_fcl.cpp.

Member Function Documentation

void collision_detection::CollisionRobotFCL::allocSelfCollisionBroadPhase	(	const robot_state::RobotState &	state,
		FCLManager &	manager
	)		const `[protected]`

Definition at line 113 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const `[virtual]`

Check for collision with a different robot (possibly a different kinematic model as well). Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made.
other_robot	The collision representation for the other robot
other_state	The kinematic state corresponding to the other robot

Implements collision_detection::CollisionRobot.

Definition at line 156 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check for collision with a different robot (possibly a different kinematic model as well). Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made.
other_robot	The collision representation for the other robot
other_state	The kinematic state corresponding to the other robot
acm	The allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 162 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state1,
		const robot_state::RobotState &	other_state2
	)		const `[virtual]`

Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made (this robot)
state2	The kinematic state at the end of the segment for which checks are being made (this robot)
other_robot	The collision representation for the other robot
other_state1	The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2	The kinematic state at the end of the segment for which checks are being made (other robot)

Implements collision_detection::CollisionRobot.

Definition at line 169 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state1,
		const robot_state::RobotState &	other_state2,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made (this robot)
state2	The kinematic state at the end of the segment for which checks are being made (this robot)
other_robot	The collision representation for the other robot
other_state1	The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2	The kinematic state at the end of the segment for which checks are being made (other robot)
acm	The allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 175 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkOtherCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix *	acm
	)		const `[protected]`

Definition at line 182 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state
	)		const `[virtual]`

Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Implements collision_detection::CollisionRobot.

Definition at line 123 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 128 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const `[virtual]`

Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made

Implements collision_detection::CollisionRobot.

Definition at line 134 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters:

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 139 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::checkSelfCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const `[protected]`

Definition at line 144 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::constructFCLObject	(	const robot_state::RobotState &	state,
		FCLObject &	fcl_obj
	)		const `[protected]`

Definition at line 80 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceOther	(	const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state
	)		const `[virtual]`

The distance to another robot instance.

Parameters:

state	The state of this robot to consider
other_robot	The other robot instance to measure distance to
other_state	The state of the other robot

Implements collision_detection::CollisionRobot.

Definition at line 244 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceOther	(	const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

The distance to another robot instance, ignoring distances between links that are allowed to always collide.

Parameters:

state	The state of this robot to consider
other_robot	The other robot instance to measure distance to
other_state	The state of the other robot
acm	The collision matrix specifying which links are allowed to always collide

Implements collision_detection::CollisionRobot.

Definition at line 251 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceOtherHelper	(	const robot_state::RobotState &	state,
		const CollisionRobot &	other_robot,
		const robot_state::RobotState &	other_state,
		const AllowedCollisionMatrix *	acm
	)		const `[protected]`

Definition at line 259 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceSelf ( const robot_state::RobotState & state ) const [virtual]

The distance to self-collision given the robot is at state state.

Implements collision_detection::CollisionRobot.

Definition at line 217 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceSelf	(	const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const `[virtual]`

The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)

Implements collision_detection::CollisionRobot.

Definition at line 222 of file collision_robot_fcl.cpp.

double collision_detection::CollisionRobotFCL::distanceSelfHelper	(	const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const `[protected]`

Definition at line 228 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::getAttachedBodyObjects	(	const robot_state::AttachedBody *	ab,
		std::vector< FCLGeometryConstPtr > &	geoms
	)		const `[protected]`

Definition at line 68 of file collision_robot_fcl.cpp.

void collision_detection::CollisionRobotFCL::updatedPaddingOrScaling ( const std::vector< std::string > & links ) [protected, virtual]

When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.

Parameters:

links the names of the links whose padding or scaling were updated

Reimplemented from collision_detection::CollisionRobot.

Definition at line 201 of file collision_robot_fcl.cpp.