Namespaces | Classes | Typedefs | Functions
collision_detection Namespace Reference

Generic interface to collision detection. More...

Namespaces

namespace  AllowedCollision
 

Any pair of bodies can have a collision state associated to it.


namespace  BodyTypes
 

The types of bodies that are considered for collision.


Classes

class  AllowedCollisionMatrix
 Definition of a structure for the allowed collision matrix. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not. More...
struct  CollisionData
class  CollisionDetectorAllocator
 An allocator for a compatible CollisionWorld/CollisionRobot pair. More...
class  CollisionDetectorAllocatorAllValid
 An allocator for AllValid collision detectors. More...
class  CollisionDetectorAllocatorFCL
 An allocator for FCL collision detectors. More...
class  CollisionDetectorAllocatorTemplate
 Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. More...
struct  CollisionGeometryData
class  CollisionPlugin
 Plugin API for loading a custom collision detection robot/world. More...
struct  CollisionRequest
 Representation of a collision checking request. More...
struct  CollisionResult
 Representation of a collision checking result. More...
class  CollisionRobot
 This class represents a collision model of the robot and can be used for self collision checks (to check if the robot is in collision with itself) or in collision checks with a different robot. Collision checks with the environment are performed using the CollisionWorld class. More...
class  CollisionRobotAllValid
class  CollisionRobotFCL
class  CollisionWorld
 Perform collision checking with the environment. The collision world maintains a representation of the environment that the robot is operating in. More...
class  CollisionWorldAllValid
class  CollisionWorldFCL
struct  Contact
 Definition of a contact point. More...
struct  CostSource
 When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...
struct  FCLGeometry
struct  FCLManager
struct  FCLObject
struct  FCLShapeCache
struct  IfSameType
struct  IfSameType< T, T >
class  World
 Maintain a representation of the environment. More...
class  WorldDiff
 Maintain a diff list of changes that have happened to a World. More...

Typedefs

typedef BodyTypes::Type BodyType
 The types of bodies that are considered for collision.
typedef boost::function< bool(collision_detection::Contact &)> DecideContactFn
 Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)
typedef boost::shared_ptr
< const fcl::CollisionObject > 
FCLCollisionObjectConstPtr
typedef boost::shared_ptr
< fcl::CollisionObject > 
FCLCollisionObjectPtr

Functions

static bool andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, collision_detection::Contact &contact)
void cleanCollisionGeometryCache ()
bool collisionCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data)
void contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg)
void costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_model::LinkModel *link, int shape_index)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link, int shape_index)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index)
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
template<typename BV , typename T >
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
template<typename BV , typename T >
FCLGeometryConstPtr createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
bool distanceCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data, double &min_dist)
void fcl2contact (const fcl::Contact &fc, Contact &c)
void fcl2costsource (const fcl::CostSource &fcs, CostSource &cs)
void getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035)
void getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)
void getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)
void getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
bool getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)
template<typename BV , typename T >
FCLShapeCacheGetShapeCache ()
double getTotalCost (const std::set< CostSource > &cost_sources)
void intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)
 MOVEIT_CLASS_FORWARD (CollisionPlugin)
 MOVEIT_CLASS_FORWARD (WorldDiff)
 MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)
 MOVEIT_CLASS_FORWARD (CollisionRobot)
 MOVEIT_CLASS_FORWARD (CollisionGeometryData)
 MOVEIT_CLASS_FORWARD (CollisionWorld)
 MOVEIT_CLASS_FORWARD (World)
 MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix)
 MOVEIT_CLASS_FORWARD (FCLGeometry)
int refineContactNormals (const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5)
 Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point.
void removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)
void removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)
void transform2fcl (const Eigen::Affine3d &b, fcl::Transform3f &f)
fcl::Transform3f transform2fcl (const Eigen::Affine3d &b)

Detailed Description

Generic interface to collision detection.


Typedef Documentation

The types of bodies that are considered for collision.

Definition at line 69 of file include/moveit/collision_detection/collision_common.h.

Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)

Definition at line 73 of file collision_matrix.h.

typedef boost::shared_ptr<const fcl::CollisionObject> collision_detection::FCLCollisionObjectConstPtr
typedef boost::shared_ptr<fcl::CollisionObject> collision_detection::FCLCollisionObjectPtr

Function Documentation

static bool collision_detection::andDecideContact ( const DecideContactFn &  f1,
const DecideContactFn &  f2,
collision_detection::Contact contact 
) [static]

Definition at line 268 of file collision_matrix.cpp.

Definition at line 753 of file collision_common.cpp.

bool collision_detection::collisionCallback ( fcl::CollisionObject *  o1,
fcl::CollisionObject *  o2,
void *  data 
)

Definition at line 45 of file collision_common.cpp.

void collision_detection::contactToMsg ( const Contact &  contact,
moveit_msgs::ContactInformation &  msg 
)

Definition at line 277 of file collision_tools.cpp.

void collision_detection::costSourceToMsg ( const CostSource &  cost_source,
moveit_msgs::CostSource &  msg 
)

Definition at line 266 of file collision_tools.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
const robot_model::LinkModel link,
int  shape_index 
)

Definition at line 703 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
const robot_state::AttachedBody ab,
int  shape_index 
)

Definition at line 709 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
const World::Object *  obj 
)

Definition at line 715 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
double  scale,
double  padding,
const robot_model::LinkModel link,
int  shape_index 
)

Definition at line 735 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
double  scale,
double  padding,
const robot_state::AttachedBody ab,
int  shape_index 
)

Definition at line 741 of file collision_common.cpp.

FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
double  scale,
double  padding,
const World::Object *  obj 
)

Definition at line 747 of file collision_common.cpp.

template<typename BV , typename T >
FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
const T data,
int  shape_index 
)

Definition at line 512 of file collision_common.cpp.

template<typename BV , typename T >
FCLGeometryConstPtr collision_detection::createCollisionGeometry ( const shapes::ShapeConstPtr shape,
double  scale,
double  padding,
const T data,
int  shape_index 
)

Definition at line 721 of file collision_common.cpp.

bool collision_detection::distanceCallback ( fcl::CollisionObject *  o1,
fcl::CollisionObject *  o2,
void *  data,
double &  min_dist 
)

Definition at line 376 of file collision_common.cpp.

void collision_detection::fcl2contact ( const fcl::Contact &  fc,
Contact &  c 
) [inline]
void collision_detection::fcl2costsource ( const fcl::CostSource &  fcs,
CostSource &  cs 
) [inline]
void collision_detection::getCollisionMarkersFromContacts ( visualization_msgs::MarkerArray &  arr,
const std::string &  frame_id,
const CollisionResult::ContactMap &  con,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime,
const double  radius = 0.035 
)

Definition at line 95 of file collision_tools.cpp.

void collision_detection::getCollisionMarkersFromContacts ( visualization_msgs::MarkerArray &  arr,
const std::string &  frame_id,
const CollisionResult::ContactMap &  con 
)

Definition at line 51 of file collision_tools.cpp.

void collision_detection::getCostMarkers ( visualization_msgs::MarkerArray &  arr,
const std::string &  frame_id,
std::set< CostSource > &  cost_sources 
)
Todo:
add a class for managing cost sources

Definition at line 40 of file collision_tools.cpp.

void collision_detection::getCostMarkers ( visualization_msgs::MarkerArray &  arr,
const std::string &  frame_id,
std::set< CostSource > &  cost_sources,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime 
)

Definition at line 63 of file collision_tools.cpp.

bool collision_detection::getSensorPositioning ( geometry_msgs::Point &  point,
const std::set< CostSource > &  cost_sources 
)

Definition at line 136 of file collision_tools.cpp.

template<typename BV , typename T >
FCLShapeCache& collision_detection::GetShapeCache ( )

Definition at line 487 of file collision_common.cpp.

double collision_detection::getTotalCost ( const std::set< CostSource > &  cost_sources)

Definition at line 149 of file collision_tools.cpp.

void collision_detection::intersectCostSources ( std::set< CostSource > &  cost_sources,
const std::set< CostSource > &  a,
const std::set< CostSource > &  b 
)

Definition at line 158 of file collision_tools.cpp.

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionDetectorAllocator  )
collision_detection::MOVEIT_CLASS_FORWARD ( CollisionGeometryData  )
collision_detection::MOVEIT_CLASS_FORWARD ( AllowedCollisionMatrix  )
int collision_detection::refineContactNormals ( const World::ObjectConstPtr &  object,
CollisionResult &  res,
double  cell_bbx_search_distance = 1.0,
double  allowed_angle_divergence = 0.0,
bool  estimate_depth = false,
double  iso_value = 0.5,
double  metaball_radius_multiple = 1.5 
)

Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point.

This is an implementation of the algorithm described in: A. Leeper, S. Chan, K. Salisbury. Point Clouds Can Be Represented as Implicit Surfaces for Constraint-Based Haptic Rendering. ICRA, May 2012, St Paul, MN. http://adamleeper.com/research/papers/2012_ICRA_leeper-chan-salisbury.pdf

Parameters:
Theoctomap originally used for collision detection.
Thecollision result (which will get its normals updated)
Thedistance, as a multiple of the octomap cell size, from which to include neighboring cells.
Theminimum angle change required for a normal to be over-written
Whetherto request a depth estimate from the algorithm (experimental...)
Theiso-surface threshold value (0.5 is a reasonable default).
Themetaball radius, as a multiple of the octomap cell size (1.5 is a reasonable default)

Definition at line 59 of file collision_octomap_filter.cpp.

void collision_detection::removeCostSources ( std::set< CostSource > &  cost_sources,
const std::set< CostSource > &  cost_sources_to_remove,
double  overlap_fraction 
)

Definition at line 212 of file collision_tools.cpp.

void collision_detection::removeOverlapping ( std::set< CostSource > &  cost_sources,
double  overlap_fraction 
)

Definition at line 182 of file collision_tools.cpp.

void collision_detection::transform2fcl ( const Eigen::Affine3d &  b,
fcl::Transform3f &  f 
) [inline]
fcl::Transform3f collision_detection::transform2fcl ( const Eigen::Affine3d &  b) [inline]


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45