#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) | |
Detailed Description
Definition at line 46 of file collision_world_allvalid.h.
Constructor & Destructor Documentation
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.
Member Function Documentation
| 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.
- Parameters:
-
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 52 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.
- Parameters:
-
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 61 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.
- Parameters:
-
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 71 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.
- Parameters:
-
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 81 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.
- Parameters:
-
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 92 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.
- Parameters:
-
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 100 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.
- Parameters:
-
robot The robot to check distance for state The state for the robot to check distances from
Implements collision_detection::CollisionWorld.
Definition at line 109 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.
- Parameters:
-
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 115 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 122 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 127 of file collision_world_allvalid.cpp.
The documentation for this class was generated from the following files: