Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
collision_detection::CollisionWorldDistanceField Class Reference

#include <collision_world_distance_field.h>

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

Classes

struct  DistanceFieldCacheEntry
 

Public Member Functions

virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
 Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored. More...
 
virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
 Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account. More...
 
virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
 Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked. More...
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
 Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked. More...
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
 Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked. More...
 
virtual void checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
 Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked. More...
 
virtual void checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const
 Check whether a given set of objects is in collision with objects from another world. Any contacts are considered. More...
 
virtual void checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const
 Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered. More...
 
 CollisionWorldDistanceField (Eigen::Vector3d size=Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), 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)
 
 CollisionWorldDistanceField (const WorldPtr &world, Eigen::Vector3d size=Eigen::Vector3d(DEFAULT_SIZE_X, DEFAULT_SIZE_Y, DEFAULT_SIZE_Z), Eigen::Vector3d origin=Eigen::Vector3d(0, 0, 0), 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)
 
 CollisionWorldDistanceField (const CollisionWorldDistanceField &other, const WorldPtr &world)
 
virtual double distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, bool verbose=false) const
 
virtual double distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
 
virtual void distanceRobot (const DistanceRequest &req, DistanceResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
 Compute the distance between a robot and the world. More...
 
virtual double distanceWorld (const CollisionWorld &world, bool verbose=false) const
 
virtual double distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm, bool verbose=false) const
 
virtual void distanceWorld (const DistanceRequest &req, DistanceResult &res, const CollisionWorld &world) const
 Compute the distance between another world. More...
 
void generateEnvironmentDistanceField (bool redo=true)
 
void getAllCollisions (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
 
void getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
 
distance_field::DistanceFieldConstPtr getDistanceField () const
 
collision_detection::GroupStateRepresentationConstPtr getLastGroupStateRepresentation () const
 
virtual void setWorld (const WorldPtr &world)
 
virtual ~CollisionWorldDistanceField ()
 
- Public Member Functions inherited from collision_detection::CollisionWorld
virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
 Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states) Any collision between any pair of links is checked for, NO collisions are ignored. More...
 
virtual void checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
 Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states). Allowed collisions specified by the allowed collision matrix are taken into account. More...
 
 CollisionWorld ()
 
 CollisionWorld (const WorldPtr &world)
 
 CollisionWorld (const CollisionWorld &other, const WorldPtr &world)
 A copy constructor. other should not be changed while the copy constructor is running. world must be the same world as used by other or a (not-yet-modified) copy of the world used by other. More...
 
double distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, bool verbose=false) const
 Compute the shortest distance between a robot and the world. More...
 
double distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
 Compute the shortest distance between a robot and the world. More...
 
double distanceWorld (const CollisionWorld &world, bool verbose=false) const
 The shortest distance to another world instance (world) More...
 
double distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm, bool verbose=false) const
 The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm) More...
 
const WorldPtr & getWorld ()
 
const WorldConstPtr & getWorld () const
 
virtual ~CollisionWorld ()
 

Protected Member Functions

DistanceFieldCacheEntryPtr generateDistanceFieldCacheEntry ()
 
bool getEnvironmentCollisions (const CollisionRequest &req, CollisionResult &res, const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
 
bool getEnvironmentProximityGradients (const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
 
void updateDistanceObject (const std::string &id, CollisionWorldDistanceField::DistanceFieldCacheEntryPtr &dfce, EigenSTL::vector_Vector3d &add_points, EigenSTL::vector_Vector3d &subtract_points)
 

Static Protected Member Functions

static void notifyObjectChange (CollisionWorldDistanceField *self, const ObjectConstPtr &obj, World::Action action)
 

Protected Attributes

double collision_tolerance_
 
DistanceFieldCacheEntryPtr distance_field_cache_entry_
 
GroupStateRepresentationPtr last_gsr_
 
double max_propogation_distance_
 
World::ObserverHandle observer_handle_
 
Eigen::Vector3d origin_
 
double resolution_
 
Eigen::Vector3d size_
 
boost::mutex update_cache_lock_
 
bool use_signed_distance_field_
 

Additional Inherited Members

- Public Types inherited from collision_detection::CollisionWorld
typedef World::ObjectConstPtr ObjectConstPtr
 
typedef World::ObjectPtr ObjectPtr
 

Detailed Description

Definition at line 49 of file collision_world_distance_field.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField ( Eigen::Vector3d  size = Eigen::Vector3d(DEFAULT_SIZE_XDEFAULT_SIZE_YDEFAULT_SIZE_Z),
Eigen::Vector3d  origin = Eigen::Vector3d(0, 0, 0),
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 
)

Definition at line 51 of file collision_world_distance_field.cpp.

collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField ( const WorldPtr &  world,
Eigen::Vector3d  size = Eigen::Vector3d(DEFAULT_SIZE_XDEFAULT_SIZE_YDEFAULT_SIZE_Z),
Eigen::Vector3d  origin = Eigen::Vector3d(0, 0, 0),
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 
)
explicit

Definition at line 69 of file collision_world_distance_field.cpp.

collision_detection::CollisionWorldDistanceField::CollisionWorldDistanceField ( const CollisionWorldDistanceField other,
const WorldPtr &  world 
)

Definition at line 89 of file collision_world_distance_field.cpp.

collision_detection::CollisionWorldDistanceField::~CollisionWorldDistanceField ( )
virtual

Definition at line 46 of file collision_world_distance_field.cpp.

Member Function Documentation

void collision_detection::CollisionWorldDistanceField::checkCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state 
) const
virtual

Check whether the robot model is in collision with itself or the world at a particular state. 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

Reimplemented from collision_detection::CollisionWorld.

Definition at line 107 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
GroupStateRepresentationPtr &  gsr 
) const
virtual

Definition at line 115 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm 
) const
virtual

Check whether the robot model is in collision with itself or the world at a particular state. 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.

Reimplemented from collision_detection::CollisionWorld.

Definition at line 149 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const
virtual

Definition at line 157 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state 
) const
virtual

Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result robot The collision model for the robot
stateThe kinematic state for which checks are being made

Implements collision_detection::CollisionWorld.

Definition at line 192 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
GroupStateRepresentationPtr &  gsr 
) const
virtual

Definition at line 200 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm 
) const
virtual

Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result robot The collision model for the robot
stateThe kinematic state for which checks are being made
acmThe allowed collision matrix.

Implements collision_detection::CollisionWorld.

Definition at line 229 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const
virtual

Definition at line 237 of file collision_world_distance_field.cpp.

virtual void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state1,
const robot_state::RobotState state2 
) const
inlinevirtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result robot The collision model for the robot
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::CollisionWorld.

Definition at line 105 of file collision_world_distance_field.h.

virtual void collision_detection::CollisionWorldDistanceField::checkRobotCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state1,
const robot_state::RobotState state2,
const AllowedCollisionMatrix acm 
) const
inlinevirtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result robot The collision model for the robot
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::CollisionWorld.

Definition at line 109 of file collision_world_distance_field.h.

virtual void collision_detection::CollisionWorldDistanceField::checkWorldCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionWorld other_world 
) const
inlinevirtual

Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
other_worldThe other collision world

Implements collision_detection::CollisionWorld.

Definition at line 114 of file collision_world_distance_field.h.

virtual void collision_detection::CollisionWorldDistanceField::checkWorldCollision ( const CollisionRequest req,
CollisionResult res,
const CollisionWorld other_world,
const AllowedCollisionMatrix acm 
) const
inlinevirtual

Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.

Parameters
reqA CollisionRequest object that encapsulates the collision request
resA CollisionResult object that encapsulates the collision result
other_worldThe other collision world
acmThe allowed collision matrix.

Implements collision_detection::CollisionWorld.

Definition at line 118 of file collision_world_distance_field.h.

virtual double collision_detection::CollisionWorldDistanceField::distanceRobot ( const CollisionRobot robot,
const robot_state::RobotState state,
bool  verbose = false 
) const
inlinevirtual

Definition at line 123 of file collision_world_distance_field.h.

virtual double collision_detection::CollisionWorldDistanceField::distanceRobot ( const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm,
bool  verbose = false 
) const
inlinevirtual

Definition at line 128 of file collision_world_distance_field.h.

virtual void collision_detection::CollisionWorldDistanceField::distanceRobot ( const DistanceRequest req,
DistanceResult res,
const CollisionRobot robot,
const robot_state::RobotState state 
) const
inlinevirtual

Compute the distance between a robot and the world.

Parameters
reqA DistanceRequest object that encapsulates the distance request
resA DistanceResult object that encapsulates the distance result
robotThe robot to check distance for
stateThe state for the robot to check distances from

Implements collision_detection::CollisionWorld.

Definition at line 143 of file collision_world_distance_field.h.

virtual double collision_detection::CollisionWorldDistanceField::distanceWorld ( const CollisionWorld world,
bool  verbose = false 
) const
inlinevirtual

Definition at line 133 of file collision_world_distance_field.h.

virtual double collision_detection::CollisionWorldDistanceField::distanceWorld ( const CollisionWorld world,
const AllowedCollisionMatrix acm,
bool  verbose = false 
) const
inlinevirtual

Definition at line 137 of file collision_world_distance_field.h.

virtual void collision_detection::CollisionWorldDistanceField::distanceWorld ( const DistanceRequest req,
DistanceResult res,
const CollisionWorld world 
) const
inlinevirtual

Compute the distance between another world.

Parameters
reqA DistanceRequest object that encapsulates the distance request
resA DistanceResult object that encapsulates the distance result
worldThe world to check distance for

Implements collision_detection::CollisionWorld.

Definition at line 149 of file collision_world_distance_field.h.

CollisionWorldDistanceField::DistanceFieldCacheEntryPtr collision_detection::CollisionWorldDistanceField::generateDistanceFieldCacheEntry ( )
protected

Definition at line 549 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::generateEnvironmentDistanceField ( bool  redo = true)
void collision_detection::CollisionWorldDistanceField::getAllCollisions ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const

Definition at line 298 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::getCollisionGradients ( const CollisionRequest req,
CollisionResult res,
const CollisionRobot robot,
const robot_state::RobotState state,
const AllowedCollisionMatrix acm,
GroupStateRepresentationPtr &  gsr 
) const

Definition at line 267 of file collision_world_distance_field.cpp.

distance_field::DistanceFieldConstPtr collision_detection::CollisionWorldDistanceField::getDistanceField ( ) const
inline

Definition at line 158 of file collision_world_distance_field.h.

bool collision_detection::CollisionWorldDistanceField::getEnvironmentCollisions ( const CollisionRequest req,
CollisionResult res,
const distance_field::DistanceFieldConstPtr &  env_distance_field,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 328 of file collision_world_distance_field.cpp.

bool collision_detection::CollisionWorldDistanceField::getEnvironmentProximityGradients ( const distance_field::DistanceFieldConstPtr &  env_distance_field,
GroupStateRepresentationPtr &  gsr 
) const
protected

Definition at line 412 of file collision_world_distance_field.cpp.

collision_detection::GroupStateRepresentationConstPtr collision_detection::CollisionWorldDistanceField::getLastGroupStateRepresentation ( ) const
inline

Definition at line 163 of file collision_world_distance_field.h.

void collision_detection::CollisionWorldDistanceField::notifyObjectChange ( CollisionWorldDistanceField self,
const ObjectConstPtr obj,
World::Action  action 
)
staticprotected

Definition at line 471 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::setWorld ( const WorldPtr &  world)
virtual

set the world to use. This can be expensive unless the new and old world are empty. Passing NULL will result in a new empty world being created.

Reimplemented from collision_detection::CollisionWorld.

Definition at line 450 of file collision_world_distance_field.cpp.

void collision_detection::CollisionWorldDistanceField::updateDistanceObject ( const std::string &  id,
CollisionWorldDistanceField::DistanceFieldCacheEntryPtr &  dfce,
EigenSTL::vector_Vector3d add_points,
EigenSTL::vector_Vector3d subtract_points 
)
protected

Definition at line 498 of file collision_world_distance_field.cpp.

Member Data Documentation

double collision_detection::CollisionWorldDistanceField::collision_tolerance_
protected

Definition at line 195 of file collision_world_distance_field.h.

DistanceFieldCacheEntryPtr collision_detection::CollisionWorldDistanceField::distance_field_cache_entry_
protected

Definition at line 199 of file collision_world_distance_field.h.

GroupStateRepresentationPtr collision_detection::CollisionWorldDistanceField::last_gsr_
protected

Definition at line 200 of file collision_world_distance_field.h.

double collision_detection::CollisionWorldDistanceField::max_propogation_distance_
protected

Definition at line 196 of file collision_world_distance_field.h.

World::ObserverHandle collision_detection::CollisionWorldDistanceField::observer_handle_
protected

Definition at line 201 of file collision_world_distance_field.h.

Eigen::Vector3d collision_detection::CollisionWorldDistanceField::origin_
protected

Definition at line 192 of file collision_world_distance_field.h.

double collision_detection::CollisionWorldDistanceField::resolution_
protected

Definition at line 194 of file collision_world_distance_field.h.

Eigen::Vector3d collision_detection::CollisionWorldDistanceField::size_
protected

Definition at line 191 of file collision_world_distance_field.h.

boost::mutex collision_detection::CollisionWorldDistanceField::update_cache_lock_
mutableprotected

Definition at line 198 of file collision_world_distance_field.h.

bool collision_detection::CollisionWorldDistanceField::use_signed_distance_field_
protected

Definition at line 193 of file collision_world_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