Public Member Functions | List of all members
collision_detection::CollisionRobotAllValid Class Reference

#include <collision_robot_allvalid.h>

Inheritance diagram for collision_detection::CollisionRobotAllValid:
Inheritance graph
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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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
 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. More...
 
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. More...
 
virtual double distanceSelf (const robot_state::RobotState &state) const
 The distance to self-collision given the robot is at state state. More...
 
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) More...
 
- Public Member Functions inherited from collision_detection::CollisionRobot
 CollisionRobot (const robot_model::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
 Constructor. More...
 
 CollisionRobot (const CollisionRobot &other)
 A copy constructor. More...
 
double getLinkPadding (const std::string &link_name) const
 Get the link padding for a particular link. More...
 
const std::map< std::string, double > & getLinkPadding () const
 Get the link paddings as a map (from link names to padding value) More...
 
double getLinkScale (const std::string &link_name) const
 Set the scaling for a particular link. More...
 
const std::map< std::string, double > & getLinkScale () const
 Get the link scaling as a map (from link names to scale value) More...
 
void getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const
 Get the link padding as a vector of messages. More...
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 The kinematic model corresponding to this collision model. More...
 
void getScale (std::vector< moveit_msgs::LinkScale > &scale) const
 Get the link scaling as a vector of messages. More...
 
void setLinkPadding (const std::string &link_name, double padding)
 Set the link padding for a particular link. More...
 
void setLinkPadding (const std::map< std::string, double > &padding)
 Set the link paddings using a map (from link names to padding value) More...
 
void setLinkScale (const std::string &link_name, double scale)
 Set the scaling for a particular link. More...
 
void setLinkScale (const std::map< std::string, double > &scale)
 Set the link scaling using a map (from link names to scale value) More...
 
void setPadding (double padding)
 Set the link padding (for every link) More...
 
void setPadding (const std::vector< moveit_msgs::LinkPadding > &padding)
 Set the link padding from a vector of messages. More...
 
void setScale (double scale)
 Set the link scaling (for every link) More...
 
void setScale (const std::vector< moveit_msgs::LinkScale > &scale)
 Set the link scaling from a vector of messages. More...
 
virtual ~CollisionRobot ()
 

Additional Inherited Members

- Protected Member Functions inherited from collision_detection::CollisionRobot
virtual void updatedPaddingOrScaling (const std::vector< std::string > &links)
 When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes. More...
 
- Protected Attributes inherited from collision_detection::CollisionRobot
std::map< std::string, double > link_padding_
 The internally maintained map (from link names to padding) More...
 
std::map< std::string, double > link_scale_
 The internally maintained map (from link names to scaling) More...
 
robot_model::RobotModelConstPtr robot_model_
 The kinematic model corresponding to this collision model. More...
 

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.

collision_detection::CollisionRobotAllValid::CollisionRobotAllValid ( const CollisionRobot other)

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.

void collision_detection::CollisionRobotAllValid::checkSelfCollision ( const CollisionRequest req,
CollisionResult res,
const robot_state::RobotState state 
) const
virtual

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.

void collision_detection::CollisionRobotAllValid::checkSelfCollision ( const CollisionRequest req,
CollisionResult res,
const robot_state::RobotState state,
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
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.

void collision_detection::CollisionRobotAllValid::checkSelfCollision ( const CollisionRequest req,
CollisionResult res,
const robot_state::RobotState state1,
const robot_state::RobotState state2 
) const
virtual

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.

double collision_detection::CollisionRobotAllValid::distanceSelf ( const robot_state::RobotState state) const
virtual

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.

double collision_detection::CollisionRobotAllValid::distanceSelf ( const robot_state::RobotState state,
const AllowedCollisionMatrix acm 
) const
virtual

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 Sun Jan 21 2018 03:54:29