Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
collision_detection::CollisionRobotDistanceField Class Reference

#include <collision_robot_distance_field.h>

Inheritance diagram for collision_detection::CollisionRobotDistanceField:
Inheritance graph
[legend]

Public Member Functions

virtual void checkOtherCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state, const collision_detection::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state1, const moveit::core::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state1, const moveit::core::RobotState &other_state2, const collision_detection::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state) const
 Check for self collision. Any collision between any pair of links is checked for, NO collisions are ignored. More...
 
void checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
virtual void checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const
 Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...
 
void checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
virtual void checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const collision_detection::AllowedCollisionMatrix &acm) const
 Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionRobotDistanceField (const robot_model::RobotModelConstPtr &kmodel)
 
 CollisionRobotDistanceField (const CollisionRobot &col_robot, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance, double padding)
 
 CollisionRobotDistanceField (const robot_model::RobotModelConstPtr &kmodel, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)
 
 CollisionRobotDistanceField (const CollisionRobotDistanceField &other)
 
void createCollisionModelMarker (const moveit::core::RobotState &state, visualization_msgs::MarkerArray &model_markers) const
 
virtual double distanceOther (const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state) const
 
virtual double distanceOther (const moveit::core::RobotState &state, const CollisionRobot &other_robot, const moveit::core::RobotState &other_state, const collision_detection::AllowedCollisionMatrix &acm) const
 
virtual void distanceOther (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
 The distance to self-collision given the robot is at state state. More...
 
virtual double distanceSelf (const moveit::core::RobotState &state) const
 
virtual double distanceSelf (const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const
 
virtual void distanceSelf (const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const
 The distance to self-collision given the robot is at state state. More...
 
DistanceFieldCacheEntryConstPtr getLastDistanceFieldEntry () const
 
void initialize (const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)
 
- 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 distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
 The distance to another robot instance. More...
 
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...
 
double distanceSelf (const robot_state::RobotState &state) const
 The distance to self-collision given the robot is at state state. More...
 
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...
 
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 ()
 

Protected Member Functions

void addLinkBodyDecompositions (double resolution)
 
void addLinkBodyDecompositions (double resolution, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions)
 
void checkSelfCollisionHelper (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
 
bool compareCacheEntryToAllowedCollisionMatrix (const DistanceFieldCacheEntryConstPtr &dfce, const collision_detection::AllowedCollisionMatrix &acm) const
 
bool compareCacheEntryToState (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state) const
 
void generateCollisionCheckingStructures (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr, bool generate_distance_field) const
 
DistanceFieldCacheEntryPtr generateDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, bool generate_distance_field) const
 
DistanceFieldCacheEntryConstPtr getDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm) const
 
void getGroupStateRepresentation (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
bool getIntraGroupCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
 
bool getIntraGroupProximityGradients (GroupStateRepresentationPtr &gsr) const
 
PosedBodyPointDecompositionPtr getPosedLinkBodyPointDecomposition (const moveit::core::LinkModel *ls) const
 
PosedBodySphereDecompositionPtr getPosedLinkBodySphereDecomposition (const moveit::core::LinkModel *ls, unsigned int ind) const
 
bool getSelfCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
 
bool getSelfProximityGradients (GroupStateRepresentationPtr &gsr) const
 
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...
 
void updateGroupStateRepresentationState (const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 

Protected Attributes

double collision_tolerance_
 
DistanceFieldCacheEntryPtr distance_field_cache_entry_
 
std::map< std::string, std::map< std::string, bool > > in_group_update_map_
 
std::map< std::string, unsigned int > link_body_decomposition_index_map_
 
std::vector< BodyDecompositionConstPtr > link_body_decomposition_vector_
 
double max_propogation_distance_
 
Eigen::Vector3d origin_
 
planning_scene::PlanningScenePtr planning_scene_
 
std::map< std::string, GroupStateRepresentationPtr > pregenerated_group_state_representation_map_
 
double resolution_
 
Eigen::Vector3d size_
 
boost::mutex update_cache_lock_
 
bool use_signed_distance_field_
 
- 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...
 

Friends

class CollisionWorldDistanceField
 

Detailed Description

Definition at line 59 of file collision_robot_distance_field.h.

Constructor & Destructor Documentation

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const robot_model::RobotModelConstPtr &  kmodel)

Definition at line 49 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const CollisionRobot col_robot,
const Eigen::Vector3d &  size,
const Eigen::Vector3d &  origin,
bool  use_signed_distance_field,
double  resolution,
double  collision_tolerance,
double  max_propogation_distance,
double  padding 
)

Definition at line 72 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const robot_model::RobotModelConstPtr &  kmodel,
const std::map< std::string, std::vector< CollisionSphere >> &  link_body_decompositions,
double  size_x = DEFAULT_SIZE_X,
double  size_y = DEFAULT_SIZE_Y,
double  size_z = DEFAULT_SIZE_Z,
bool  use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
double  resolution = DEFAULT_RESOLUTION,
double  collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
double  max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
double  padding = 0.0,
double  scale = 1.0 
)

Definition at line 61 of file collision_robot_distance_field.cpp.

collision_detection::CollisionRobotDistanceField::CollisionRobotDistanceField ( const CollisionRobotDistanceField other)

Definition at line 84 of file collision_robot_distance_field.cpp.

Member Function Documentation

void collision_detection::CollisionRobotDistanceField::addLinkBodyDecompositions ( double  resolution)
protected

Definition at line 952 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::addLinkBodyDecompositions ( double  resolution,
const std::map< std::string, std::vector< CollisionSphere >> &  link_body_decompositions 
)
protected

Definition at line 1040 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state 
) const
inlinevirtual

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 118 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state,
const collision_detection::AllowedCollisionMatrix acm 
) const
inlinevirtual

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 125 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state1,
const moveit::core::RobotState state2,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state1,
const moveit::core::RobotState other_state2 
) const
inlinevirtual

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 133 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkOtherCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state1,
const moveit::core::RobotState state2,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state1,
const moveit::core::RobotState other_state2,
const collision_detection::AllowedCollisionMatrix acm 
) const
inlinevirtual

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 142 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::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 210 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
GroupStateRepresentationPtr &  gsr 
) const

Definition at line 218 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const collision_detection::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 226 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const

Definition at line 235 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state1,
const moveit::core::RobotState state2 
) const
inlinevirtual

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 103 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::checkSelfCollision ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state1,
const moveit::core::RobotState state2,
const collision_detection::AllowedCollisionMatrix acm 
) const
inlinevirtual

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 110 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::checkSelfCollisionHelper ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 154 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix ( const DistanceFieldCacheEntryConstPtr &  dfce,
const collision_detection::AllowedCollisionMatrix acm 
) const
protected

Definition at line 1305 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::compareCacheEntryToState ( const DistanceFieldCacheEntryConstPtr &  dfce,
const moveit::core::RobotState state 
) const
protected

Definition at line 1245 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::createCollisionModelMarker ( const moveit::core::RobotState state,
visualization_msgs::MarkerArray &  model_markers 
) const

Definition at line 972 of file collision_robot_distance_field.cpp.

virtual double collision_detection::CollisionRobotDistanceField::distanceOther ( const moveit::core::RobotState state,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state 
) const
inlinevirtual

Definition at line 164 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceOther ( const moveit::core::RobotState state,
const CollisionRobot other_robot,
const moveit::core::RobotState other_state,
const collision_detection::AllowedCollisionMatrix acm 
) const
inlinevirtual

Definition at line 169 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::distanceOther ( const DistanceRequest req,
DistanceResult res,
const robot_state::RobotState state,
const CollisionRobot other_robot,
const robot_state::RobotState other_state 
) const
inlinevirtual

The distance to self-collision given the robot is at state state.

Parameters
reqA DistanceRequest object that encapsulates the distance request
resA DistanceResult object that encapsulates the distance result
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 181 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceSelf ( const moveit::core::RobotState state) const
inlinevirtual

Definition at line 155 of file collision_robot_distance_field.h.

virtual double collision_detection::CollisionRobotDistanceField::distanceSelf ( const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm 
) const
inlinevirtual

Definition at line 159 of file collision_robot_distance_field.h.

virtual void collision_detection::CollisionRobotDistanceField::distanceSelf ( const DistanceRequest req,
DistanceResult res,
const robot_state::RobotState state 
) const
inlinevirtual

The distance to self-collision given the robot is at state state.

Parameters
reqA DistanceRequest object that encapsulates the distance request
resA DistanceResult object that encapsulates the distance result
stateThe state of this robot to consider

Implements collision_detection::CollisionRobot.

Definition at line 176 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::generateCollisionCheckingStructures ( const std::string &  group_name,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr,
bool  generate_distance_field 
) const
protected

Definition at line 135 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryPtr collision_detection::CollisionRobotDistanceField::generateDistanceFieldCacheEntry ( const std::string &  group_name,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm,
bool  generate_distance_field 
) const
protected

Definition at line 700 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryConstPtr collision_detection::CollisionRobotDistanceField::getDistanceFieldCacheEntry ( const std::string &  group_name,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm 
) const
protected

Definition at line 179 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::getGroupStateRepresentation ( const DistanceFieldCacheEntryConstPtr &  dfce,
const moveit::core::RobotState state,
GroupStateRepresentationPtr &  gsr 
) const
protected

std::cerr << "Attached " << dfce->attached_body_names_[i] << " index " << dfce->attached_body_link_state_indices_[i] << std::endl;

Definition at line 1147 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getIntraGroupCollisions ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 405 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getIntraGroupProximityGradients ( GroupStateRepresentationPtr &  gsr) const
protected

Definition at line 634 of file collision_robot_distance_field.cpp.

DistanceFieldCacheEntryConstPtr collision_detection::CollisionRobotDistanceField::getLastDistanceFieldEntry ( ) const
inline

Definition at line 187 of file collision_robot_distance_field.h.

PosedBodyPointDecompositionPtr collision_detection::CollisionRobotDistanceField::getPosedLinkBodyPointDecomposition ( const moveit::core::LinkModel ls) const
protected

Definition at line 1080 of file collision_robot_distance_field.cpp.

PosedBodySphereDecompositionPtr collision_detection::CollisionRobotDistanceField::getPosedLinkBodySphereDecomposition ( const moveit::core::LinkModel ls,
unsigned int  ind 
) const
protected

Definition at line 1071 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getSelfCollisions ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 249 of file collision_robot_distance_field.cpp.

bool collision_detection::CollisionRobotDistanceField::getSelfProximityGradients ( GroupStateRepresentationPtr &  gsr) const
protected

Definition at line 330 of file collision_robot_distance_field.cpp.

void collision_detection::CollisionRobotDistanceField::initialize ( const std::map< std::string, std::vector< CollisionSphere >> &  link_body_decompositions,
const Eigen::Vector3d &  size,
const Eigen::Vector3d &  origin,
bool  use_signed_distance_field,
double  resolution,
double  collision_tolerance,
double  max_propogation_distance 
)

Definition at line 101 of file collision_robot_distance_field.cpp.

virtual void collision_detection::CollisionRobotDistanceField::updatedPaddingOrScaling ( const std::vector< std::string > &  links)
inlineprotectedvirtual

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.

Parameters
linksthe names of the links whose padding or scaling were updated

Reimplemented from collision_detection::CollisionRobot.

Definition at line 250 of file collision_robot_distance_field.h.

void collision_detection::CollisionRobotDistanceField::updateGroupStateRepresentationState ( const moveit::core::RobotState state,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 1093 of file collision_robot_distance_field.cpp.

Friends And Related Function Documentation

friend class CollisionWorldDistanceField
friend

Definition at line 61 of file collision_robot_distance_field.h.

Member Data Documentation

double collision_detection::CollisionRobotDistanceField::collision_tolerance_
protected

Definition at line 256 of file collision_robot_distance_field.h.

DistanceFieldCacheEntryPtr collision_detection::CollisionRobotDistanceField::distance_field_cache_entry_
protected

Definition at line 263 of file collision_robot_distance_field.h.

std::map<std::string, std::map<std::string, bool> > collision_detection::CollisionRobotDistanceField::in_group_update_map_
protected

Definition at line 264 of file collision_robot_distance_field.h.

std::map<std::string, unsigned int> collision_detection::CollisionRobotDistanceField::link_body_decomposition_index_map_
protected

Definition at line 260 of file collision_robot_distance_field.h.

std::vector<BodyDecompositionConstPtr> collision_detection::CollisionRobotDistanceField::link_body_decomposition_vector_
protected

Definition at line 259 of file collision_robot_distance_field.h.

double collision_detection::CollisionRobotDistanceField::max_propogation_distance_
protected

Definition at line 257 of file collision_robot_distance_field.h.

Eigen::Vector3d collision_detection::CollisionRobotDistanceField::origin_
protected

Definition at line 253 of file collision_robot_distance_field.h.

planning_scene::PlanningScenePtr collision_detection::CollisionRobotDistanceField::planning_scene_
protected

Definition at line 267 of file collision_robot_distance_field.h.

std::map<std::string, GroupStateRepresentationPtr> collision_detection::CollisionRobotDistanceField::pregenerated_group_state_representation_map_
protected

Definition at line 265 of file collision_robot_distance_field.h.

double collision_detection::CollisionRobotDistanceField::resolution_
protected

Definition at line 255 of file collision_robot_distance_field.h.

Eigen::Vector3d collision_detection::CollisionRobotDistanceField::size_
protected

Definition at line 250 of file collision_robot_distance_field.h.

boost::mutex collision_detection::CollisionRobotDistanceField::update_cache_lock_
mutableprotected

Definition at line 262 of file collision_robot_distance_field.h.

bool collision_detection::CollisionRobotDistanceField::use_signed_distance_field_
protected

Definition at line 254 of file collision_robot_distance_field.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Feb 9 2019 04:09:04