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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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  ROS_INFO_NAMED("collision_detection", "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 }
#define ROS_INFO_NAMED(name,...)
virtual double distanceOther(const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
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...
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
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:123


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Jul 12 2018 02:53:17