#include <link_to_collision.hpp>

Public Types
typedef std::unordered_map< std::string, std::vector< std::string > >	MapSelfCollisions_t

Public Member Functions
bool	getMarkerShapeFromType (const uint32_t &shape_type, const Eigen::Vector3d &abs_pos, const Eigen::Quaterniond &quat_pos, const std::string &link_of_interest, const Eigen::Vector3d &dimension, PtrIMarkerShape_t &segment_of_interest_marker_shape)

bool	getMarkerShapeFromType (const uint32_t &shape_type, const geometry_msgs::Pose &pose, const std::string &link_of_interest, const Eigen::Vector3d &dimension, PtrIMarkerShape_t &segment_of_interest_marker_shape)

bool	getMarkerShapeFromUrdf (const Eigen::Vector3d &abs_pos, const Eigen::Quaterniond &quat_pos, const std::string &link_of_interest, PtrIMarkerShape_t &segment_of_interest_marker_shape)

MapSelfCollisions_t::iterator	getSelfCollisionsIterBegin ()

MapSelfCollisions_t::iterator	getSelfCollisionsIterEnd ()

bool	ignoreSelfCollisionPart (const std::string &link_of_interest, const std::string &self_collision_obstacle_link)

bool	initFile (const std::string &root_frame_id, const std::string &urdf_file_name)

bool	initParameter (const std::string &root_frame_id, const std::string &urdf_param)

bool	initSelfCollision (XmlRpc::XmlRpcValue &self_collision_params, boost::scoped_ptr< ShapesManager > &sm)

	LinkToCollision ()

	~LinkToCollision ()

Private Types
typedef std::unordered_map< std::string, std::vector< std::string > >::iterator	MapIter_t

typedef urdf::BoxSharedPtr	PtrBox_t

typedef urdf::CollisionSharedPtr	PtrCollision_t

typedef urdf::LinkConstSharedPtr	PtrConstLink_t

typedef urdf::CylinderSharedPtr	PtrCylinder_t

typedef urdf::GeometrySharedPtr	PtrGeometry_t

typedef urdf::LinkSharedPtr	PtrLink_t

typedef urdf::MeshSharedPtr	PtrMesh_t

typedef urdf::SphereSharedPtr	PtrSphere_t

typedef std::vector< PtrLink_t >	VecPtrLink_t

Private Member Functions
void	createSpecificMarkerShape (const std::string &link_of_interest, const geometry_msgs::Pose &pose, const std_msgs::ColorRGBA &col, const PtrGeometry_t &geometry, PtrIMarkerShape_t &segment_of_interest_marker_shape)
	first: link to be considered 'obstacle', second: links of component to be considered for self-collision checking More...

void	poseURDFToMsg (const urdf::Pose &urdf_pose, geometry_msgs::Pose &msg_pose)

Private Attributes
urdf::Model	model_

std::string	root_frame_id_

std::unordered_map< std::string, std::vector< std::string > >	self_collision_map_

bool	success_

Detailed Description

Definition at line 47 of file link_to_collision.hpp.

Member Typedef Documentation

typedef std::unordered_map<std::string, std::vector<std::string> >::iterator LinkToCollision::MapIter_t

private

Definition at line 59 of file link_to_collision.hpp.

typedef std::unordered_map<std::string, std::vector<std::string> > LinkToCollision::MapSelfCollisions_t

Definition at line 89 of file link_to_collision.hpp.

typedef urdf::BoxSharedPtr LinkToCollision::PtrBox_t

private

Definition at line 56 of file link_to_collision.hpp.

typedef urdf::CollisionSharedPtr LinkToCollision::PtrCollision_t

private

Definition at line 53 of file link_to_collision.hpp.

typedef urdf::LinkConstSharedPtr LinkToCollision::PtrConstLink_t

private

Definition at line 50 of file link_to_collision.hpp.

typedef urdf::CylinderSharedPtr LinkToCollision::PtrCylinder_t

private

Definition at line 58 of file link_to_collision.hpp.

typedef urdf::GeometrySharedPtr LinkToCollision::PtrGeometry_t

private

Definition at line 54 of file link_to_collision.hpp.

typedef urdf::LinkSharedPtr LinkToCollision::PtrLink_t

private

Definition at line 51 of file link_to_collision.hpp.

typedef urdf::MeshSharedPtr LinkToCollision::PtrMesh_t

private

Definition at line 55 of file link_to_collision.hpp.

typedef urdf::SphereSharedPtr LinkToCollision::PtrSphere_t

private

Definition at line 57 of file link_to_collision.hpp.

typedef std::vector<PtrLink_t> LinkToCollision::VecPtrLink_t

private

Definition at line 52 of file link_to_collision.hpp.

Constructor & Destructor Documentation

LinkToCollision::LinkToCollision ( )

Definition at line 26 of file link_to_collision.cpp.

LinkToCollision::~LinkToCollision ( )

Definition at line 31 of file link_to_collision.cpp.

Member Function Documentation

void LinkToCollision::createSpecificMarkerShape	(	const std::string &	link_of_interest,
		const geometry_msgs::Pose &	pose,
		const std_msgs::ColorRGBA &	col,
		const PtrGeometry_t &	geometry,
		PtrIMarkerShape_t &	segment_of_interest_marker_shape
	)

private

first: link to be considered 'obstacle', second: links of component to be considered for self-collision checking

Private method to create a specific marker shape for the output pointer.

Parameters

link_of_interest	The name of the link of interest.
pose	The pose of the frame (root of the frame).
col	The color.
geometry	A pointer to a URDF geometry object.
segment_of_interest_marker_shape	The pointer for that a marker shape shall be created.

Definition at line 181 of file link_to_collision.cpp.

bool LinkToCollision::getMarkerShapeFromType	(	const uint32_t &	shape_type,
		const Eigen::Vector3d &	abs_pos,
		const Eigen::Quaterniond &	quat_pos,
		const std::string &	link_of_interest,
		const Eigen::Vector3d &	dimension,
		PtrIMarkerShape_t &	segment_of_interest_marker_shape
	)

Tries to create a MarkerShape by a given shape_type. If shape_type is MESH_RESOURCE then the behaviour is similar to getMarkerShapeFromUrdf(..).

Parameters

shape_type	The type of the shape (visualization_marker types).
abs_pos	The absolute position (from root frame) of the shape.
quat_pos	The orientation (from root frame) of the shape.
link_of_interest	The name of the link of interest (e.g. link name if shape_type MESH_RESOURCE else only for id).
segment_of_interest_marker_shape	The pointer for that a marker shape shall be created.

Returns: State of success.

Definition at line 240 of file link_to_collision.cpp.

bool LinkToCollision::getMarkerShapeFromType	(	const uint32_t &	shape_type,
		const geometry_msgs::Pose &	pose,
		const std::string &	link_of_interest,
		const Eigen::Vector3d &	dimension,
		PtrIMarkerShape_t &	segment_of_interest_marker_shape
	)

Tries to create a MarkerShape by a given shape_type (similar to above but with pose).

Parameters

shape_type	The type of the shape (visualization_marker types).
pose	The pose of the shape (with respect to the root_frame).
link_of_interest	The name of the link of interest (e.g. link name if shape_type MESH_RESOURCE else only for id).
segment_of_interest_marker_shape	The pointer for that a marker shape shall be created.

Returns: State of success.

Definition at line 258 of file link_to_collision.cpp.

bool LinkToCollision::getMarkerShapeFromUrdf	(	const Eigen::Vector3d &	abs_pos,
		const Eigen::Quaterniond &	quat_pos,
		const std::string &	link_of_interest,
		PtrIMarkerShape_t &	segment_of_interest_marker_shape
	)

Tries to find the given link_of_interest in the links parsed from URDF. According to the data there a MarkerShape is created and will be assigned to the pointer.

Parameters

abs_pos	The absolute position (from root frame) of the shape.
quat_pos	The orientation (from root frame) of the shape.
link_of_interest	The name of the link of interest.
segment_of_interest_marker_shape	The pointer for that a marker shape shall be created.

Returns: State of success.

Definition at line 120 of file link_to_collision.cpp.

MapSelfCollisions_t::iterator LinkToCollision::getSelfCollisionsIterBegin ( )

inline

Definition at line 94 of file link_to_collision.hpp.

MapSelfCollisions_t::iterator LinkToCollision::getSelfCollisionsIterEnd ( )

inline

Definition at line 99 of file link_to_collision.hpp.

bool LinkToCollision::ignoreSelfCollisionPart	(	const std::string &	link_of_interest,
		const std::string &	self_collision_obstacle_link
	)

Definition at line 49 of file link_to_collision.cpp.

bool LinkToCollision::initFile	(	const std::string &	root_frame_id,
		const std::string &	urdf_file_name
	)

Initialize the FrameToCollision model by an URDF file.

Parameters

root_frame_id	The id of the root frame as base for further transformations.
urdf_file_name	The URDF file name (containing path).

Returns: State of success.

Definition at line 63 of file link_to_collision.cpp.

bool LinkToCollision::initParameter	(	const std::string &	root_frame_id,
		const std::string &	urdf_param
	)

Initialize the FrameToCollision model by an ROS parameter containting the URDF description.

Parameters

root_frame_id	The id of the root frame as base for further transformations.
urdf_param	The ROS parameter containing the URDF description.

Returns: State of success.

Definition at line 71 of file link_to_collision.cpp.

bool LinkToCollision::initSelfCollision	(	XmlRpc::XmlRpcValue &	self_collision_params,
		boost::scoped_ptr< ShapesManager > &	sm
	)

From the parameters self collision dictionary the keys are extracted as the self-collision "obstacles". While the values are the parts to be ignored for self-collision checking. Additionally the parts to be ignored are extended by the parent and child elements of the link corresponding to the key.

Parameters

self_collision_params	A XML RPC data structure representing the self_collision params (from YAML or parameter server)
sm	The shapes manager that will by extended by self-collision "obstacles"

Returns: State of success.

Definition at line 79 of file link_to_collision.cpp.

void LinkToCollision::poseURDFToMsg	(	const urdf::Pose &	urdf_pose,
		geometry_msgs::Pose &	msg_pose
	)

private

Convert a pose object from URDF into a pose msg object.

Parameters

urdf_pose	Pose from URDF.
msg_pose	Pose expressed as message.

Definition at line 36 of file link_to_collision.cpp.

Member Data Documentation

urdf::Model LinkToCollision::model_

private

Definition at line 61 of file link_to_collision.hpp.

std::string LinkToCollision::root_frame_id_

private

Definition at line 63 of file link_to_collision.hpp.

std::unordered_map<std::string, std::vector<std::string> > LinkToCollision::self_collision_map_

private

Definition at line 64 of file link_to_collision.hpp.

bool LinkToCollision::success_

private

Definition at line 62 of file link_to_collision.hpp.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation