collision_robot_allvalid.cpp
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34 
35 /* Author: Ioan Sucan, Jia Pan */
36 
38 
39 collision_detection::CollisionRobotAllValid::CollisionRobotAllValid(const robot_model::RobotModelConstPtr& kmodel,
40  double padding, double scale)
41  : CollisionRobot(kmodel, padding, scale)
42 {
43 }
44 
46 {
47 }
48 
50  const robot_state::RobotState& state) const
51 {
52  res.collision = false;
53  if (req.verbose)
54  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
55 }
56 
58  const robot_state::RobotState& state,
59  const AllowedCollisionMatrix& acm) const
60 {
61  res.collision = false;
62  if (req.verbose)
63  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
64 }
65 
67  const robot_state::RobotState& state1,
68  const robot_state::RobotState& state2) const
69 {
70  res.collision = false;
71  if (req.verbose)
72  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
73 }
74 
76  const robot_state::RobotState& state1,
77  const robot_state::RobotState& state2,
78  const AllowedCollisionMatrix& acm) const
79 {
80  res.collision = false;
81  if (req.verbose)
82  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
83 }
84 
86  const robot_state::RobotState& state,
87  const CollisionRobot& other_robot,
88  const robot_state::RobotState& other_state) const
89 {
90  res.collision = false;
91  if (req.verbose)
92  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
93 }
94 
96  const robot_state::RobotState& state,
97  const CollisionRobot& other_robot,
98  const robot_state::RobotState& other_state,
99  const AllowedCollisionMatrix& acm) const
100 {
101  res.collision = false;
102  if (req.verbose)
103  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
104 }
105 
107  const robot_state::RobotState& state1,
108  const robot_state::RobotState& state2,
109  const CollisionRobot& other_robot,
110  const robot_state::RobotState& other_state1,
111  const robot_state::RobotState& other_state2) const
112 {
113  res.collision = false;
114  if (req.verbose)
115  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
116 }
117 
119  const robot_state::RobotState& state1,
120  const robot_state::RobotState& state2,
121  const CollisionRobot& other_robot,
122  const robot_state::RobotState& other_state1,
123  const robot_state::RobotState& other_state2,
124  const AllowedCollisionMatrix& acm) const
125 {
126  res.collision = false;
127  if (req.verbose)
128  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
129 }
130 
132 {
133  return 0.0;
134 }
135 
137  const AllowedCollisionMatrix& acm) const
138 {
139  return 0.0;
140 }
141 
143  const CollisionRobot& other_robot,
144  const robot_state::RobotState& other_state) const
145 {
146  return 0.0;
147 }
148 
150  const CollisionRobot& other_robot,
151  const robot_state::RobotState& other_state,
152  const AllowedCollisionMatrix& acm) const
153 {
154  return 0.0;
155 }
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.
bool collision
True if collision was found, false otherwise.
bool verbose
Flag indicating whether information about detected collisions should be reported. ...
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)...
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
#define CONSOLE_BRIDGE_logInform(fmt,...)
CollisionRobotAllValid(const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)
This class represents a collision model of the robot and can be used for self collision checks (to ch...
virtual double distanceSelf(const robot_state::RobotState &state) const
The distance to self-collision given the robot is at state state.
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 i...
Representation of a robot's state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:82


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Jan 15 2018 03:50:44