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| CreateCollisionRobot (const robot_model::RobotModelConstPtr &model) |
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void | getCollisionObject (const robot_state::RobotState &state, std::vector< std::shared_ptr< fcl::CollisionObject > > &obj) |
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virtual void | checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const |
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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 |
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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 |
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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 |
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virtual void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const |
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virtual void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const |
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virtual void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const |
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virtual void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
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| CollisionRobotFCL (const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0) |
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| CollisionRobotFCL (const CollisionRobotFCL &other) |
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virtual void | distanceOther (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const override |
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virtual void | distanceSelf (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const override |
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| CollisionRobot (const robot_model::RobotModelConstPtr &model, double padding=0.0, double scale=1.0) |
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| CollisionRobot (const CollisionRobot &other) |
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double | distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const |
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double | distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const |
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double | distanceSelf (const robot_state::RobotState &state) const |
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double | distanceSelf (const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const |
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double | getLinkPadding (const std::string &link_name) const |
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const std::map< std::string, double > & | getLinkPadding () const |
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double | getLinkScale (const std::string &link_name) const |
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const std::map< std::string, double > & | getLinkScale () const |
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void | getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const |
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const robot_model::RobotModelConstPtr & | getRobotModel () const |
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void | getScale (std::vector< moveit_msgs::LinkScale > &scale) const |
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void | setLinkPadding (const std::map< std::string, double > &padding) |
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void | setLinkPadding (const std::string &link_name, double padding) |
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void | setLinkScale (const std::string &link_name, double scale) |
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void | setLinkScale (const std::map< std::string, double > &scale) |
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void | setPadding (double padding) |
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void | setPadding (const std::vector< moveit_msgs::LinkPadding > &padding) |
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void | setScale (double scale) |
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void | setScale (const std::vector< moveit_msgs::LinkScale > &scale) |
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virtual | ~CollisionRobot () |
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void | allocSelfCollisionBroadPhase (const robot_state::RobotState &state, FCLManager &manager) const |
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void | checkOtherCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const |
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void | checkSelfCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const |
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void | constructFCLObject (const robot_state::RobotState &state, FCLObject &fcl_obj) const |
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void | getAttachedBodyObjects (const robot_state::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) const |
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virtual void | updatedPaddingOrScaling (const std::vector< std::string > &links) |
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std::vector< FCLCollisionObjectConstPtr > | fcl_objs_ |
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std::vector< FCLGeometryConstPtr > | geoms_ |
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std::map< std::string, double > | link_padding_ |
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std::map< std::string, double > | link_scale_ |
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robot_model::RobotModelConstPtr | robot_model_ |
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