#include <collision_world_allvalid.h>
Public Member Functions | |
virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const |
Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked. | |
virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked. | |
virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const |
Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked. | |
virtual void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const |
Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked. | |
virtual void | checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const |
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered. | |
virtual void | checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const |
Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered. | |
CollisionWorldAllValid () | |
CollisionWorldAllValid (const WorldPtr &world) | |
CollisionWorldAllValid (const CollisionWorld &other, const WorldPtr &world) | |
virtual double | distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state) const |
Compute the shortest distance between a robot and the world. | |
virtual double | distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
Compute the shortest distance between a robot and the world. | |
virtual double | distanceWorld (const CollisionWorld &world) const |
The shortest distance to another world instance (world) | |
virtual double | distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm) const |
The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm) |
Definition at line 47 of file collision_world_allvalid.h.
Definition at line 39 of file collision_world_allvalid.cpp.
collision_detection::CollisionWorldAllValid::CollisionWorldAllValid | ( | const WorldPtr & | world | ) | [explicit] |
Definition at line 43 of file collision_world_allvalid.cpp.
collision_detection::CollisionWorldAllValid::CollisionWorldAllValid | ( | const CollisionWorld & | other, |
const WorldPtr & | world | ||
) |
Definition at line 47 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkRobotCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state | ||
) | const [virtual] |
Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result robot The collision model for the robot |
state | The kinematic state for which checks are being made |
Implements collision_detection::CollisionWorld.
Definition at line 51 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkRobotCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result robot The collision model for the robot |
state | The kinematic state for which checks are being made |
acm | The allowed collision matrix. |
Implements collision_detection::CollisionWorld.
Definition at line 58 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkRobotCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state1, | ||
const robot_state::RobotState & | state2 | ||
) | const [virtual] |
Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result robot The collision model for the robot |
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::CollisionWorld.
Definition at line 65 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkRobotCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionRobot & | robot, | ||
const robot_state::RobotState & | state1, | ||
const robot_state::RobotState & | state2, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result robot The collision model for the robot |
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::CollisionWorld.
Definition at line 72 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkWorldCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionWorld & | other_world | ||
) | const [virtual] |
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result |
other_world | The other collision world |
Implements collision_detection::CollisionWorld.
Definition at line 79 of file collision_world_allvalid.cpp.
void collision_detection::CollisionWorldAllValid::checkWorldCollision | ( | const CollisionRequest & | req, |
CollisionResult & | res, | ||
const CollisionWorld & | other_world, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.
req | A CollisionRequest object that encapsulates the collision request |
res | A CollisionResult object that encapsulates the collision result |
other_world | The other collision world |
acm | The allowed collision matrix. |
Implements collision_detection::CollisionWorld.
Definition at line 86 of file collision_world_allvalid.cpp.
double collision_detection::CollisionWorldAllValid::distanceRobot | ( | const CollisionRobot & | robot, |
const robot_state::RobotState & | state | ||
) | const [virtual] |
Compute the shortest distance between a robot and the world.
robot | The robot to check distance for |
state | The state for the robot to check distances from |
Implements collision_detection::CollisionWorld.
Definition at line 93 of file collision_world_allvalid.cpp.
double collision_detection::CollisionWorldAllValid::distanceRobot | ( | const CollisionRobot & | robot, |
const robot_state::RobotState & | state, | ||
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
Compute the shortest distance between a robot and the world.
robot | The robot to check distance for |
state | The state for the robot to check distances from |
acm | Using an allowed collision matrix has the effect of ignoring distances from links that are always allowed to be in collision. |
Implements collision_detection::CollisionWorld.
Definition at line 98 of file collision_world_allvalid.cpp.
double collision_detection::CollisionWorldAllValid::distanceWorld | ( | const CollisionWorld & | world | ) | const [virtual] |
The shortest distance to another world instance (world)
Implements collision_detection::CollisionWorld.
Definition at line 103 of file collision_world_allvalid.cpp.
double collision_detection::CollisionWorldAllValid::distanceWorld | ( | const CollisionWorld & | world, |
const AllowedCollisionMatrix & | acm | ||
) | const [virtual] |
The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm)
Implements collision_detection::CollisionWorld.
Definition at line 108 of file collision_world_allvalid.cpp.