Public Member Functions
collision_detection::CollisionRobotAllValid Class Reference

#include <collision_robot_allvalid.h>

Inheritance diagram for collision_detection::CollisionRobotAllValid:
Inheritance graph
[legend]

List of all members.

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.
 CollisionRobotAllValid (const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)
 CollisionRobotAllValid (const CollisionRobot &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)

Detailed Description

Definition at line 44 of file collision_robot_allvalid.h.


Constructor & Destructor Documentation

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

Definition at line 39 of file collision_robot_allvalid.cpp.

Definition at line 45 of file collision_robot_allvalid.cpp.


Member Function Documentation

void collision_detection::CollisionRobotAllValid::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:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
stateThe kinematic state for which checks are being made.
other_robotThe collision representation for the other robot
other_stateThe kinematic state corresponding to the other robot

Implements collision_detection::CollisionRobot.

Definition at line 85 of file collision_robot_allvalid.cpp.

void collision_detection::CollisionRobotAllValid::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:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
stateThe kinematic state for which checks are being made.
other_robotThe collision representation for the other robot
other_stateThe kinematic state corresponding to the other robot
acmThe allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 95 of file collision_robot_allvalid.cpp.

void collision_detection::CollisionRobotAllValid::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:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
state1The kinematic state at the start of the segment for which checks are being made (this robot)
state2The kinematic state at the end of the segment for which checks are being made (this robot)
other_robotThe collision representation for the other robot
other_state1The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2The kinematic state at the end of the segment for which checks are being made (other robot)

Implements collision_detection::CollisionRobot.

Definition at line 106 of file collision_robot_allvalid.cpp.

void collision_detection::CollisionRobotAllValid::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:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
state1The kinematic state at the start of the segment for which checks are being made (this robot)
state2The kinematic state at the end of the segment for which checks are being made (this robot)
other_robotThe collision representation for the other robot
other_state1The kinematic state at the start of the segment for which checks are being made (other robot)
other_state2The kinematic state at the end of the segment for which checks are being made (other robot)
acmThe allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 118 of file collision_robot_allvalid.cpp.

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

Parameters:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
stateThe kinematic state for which checks are being made

Implements collision_detection::CollisionRobot.

Definition at line 49 of file collision_robot_allvalid.cpp.

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

Parameters:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
stateThe kinematic state for which checks are being made
acmThe allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 57 of file collision_robot_allvalid.cpp.

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

Parameters:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
state1The kinematic state at the start of the segment for which checks are being made
state2The kinematic state at the end of the segment for which checks are being made

Implements collision_detection::CollisionRobot.

Definition at line 66 of file collision_robot_allvalid.cpp.

void collision_detection::CollisionRobotAllValid::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:
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
state1The kinematic state at the start of the segment for which checks are being made
state2The kinematic state at the end of the segment for which checks are being made
acmThe allowed collision matrix.

Implements collision_detection::CollisionRobot.

Definition at line 75 of file collision_robot_allvalid.cpp.

double collision_detection::CollisionRobotAllValid::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:
stateThe state of this robot to consider
other_robotThe other robot instance to measure distance to
other_stateThe state of the other robot

Implements collision_detection::CollisionRobot.

Definition at line 142 of file collision_robot_allvalid.cpp.

double collision_detection::CollisionRobotAllValid::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:
stateThe state of this robot to consider
other_robotThe other robot instance to measure distance to
other_stateThe state of the other robot
acmThe collision matrix specifying which links are allowed to always collide

Implements collision_detection::CollisionRobot.

Definition at line 149 of file collision_robot_allvalid.cpp.

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

Implements collision_detection::CollisionRobot.

Definition at line 131 of file collision_robot_allvalid.cpp.

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 136 of file collision_robot_allvalid.cpp.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Nov 26 2018 03:22:11