collision_robot_fcl.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
38 #define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_ROBOT_
39 
41 
42 namespace collision_detection
43 {
45 {
46  friend class CollisionWorldFCL;
47 
48 public:
49  CollisionRobotFCL(const robot_model::RobotModelConstPtr& kmodel, double padding = 0.0, double scale = 1.0);
50 
52 
53  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
54  const robot_state::RobotState& state) const;
55  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
56  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
57  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
58  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
59  virtual void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
60  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
61  const AllowedCollisionMatrix& acm) const;
62 
63  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
64  const robot_state::RobotState& state, const CollisionRobot& other_robot,
65  const robot_state::RobotState& other_state) const;
66  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
67  const robot_state::RobotState& state, const CollisionRobot& other_robot,
68  const robot_state::RobotState& other_state, const AllowedCollisionMatrix& acm) const;
69  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
70  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
71  const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
72  const robot_state::RobotState& other_state2) const;
73  virtual void checkOtherCollision(const CollisionRequest& req, CollisionResult& res,
74  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
75  const CollisionRobot& other_robot, const robot_state::RobotState& other_state1,
76  const robot_state::RobotState& other_state2,
77  const AllowedCollisionMatrix& acm) const;
78 
79  virtual void distanceSelf(const DistanceRequest& req, DistanceResult& res,
80  const robot_state::RobotState& state) const override;
81 
82  virtual void distanceOther(const DistanceRequest& req, DistanceResult& res, const robot_state::RobotState& state,
83  const CollisionRobot& other_robot,
84  const robot_state::RobotState& other_state) const override;
85 
86 protected:
87  virtual void updatedPaddingOrScaling(const std::vector<std::string>& links);
88  void constructFCLObject(const robot_state::RobotState& state, FCLObject& fcl_obj) const;
89  void allocSelfCollisionBroadPhase(const robot_state::RobotState& state, FCLManager& manager) const;
90  void getAttachedBodyObjects(const robot_state::AttachedBody* ab, std::vector<FCLGeometryConstPtr>& geoms) const;
91 
93  const AllowedCollisionMatrix* acm) const;
95  const robot_state::RobotState& state, const CollisionRobot& other_robot,
96  const robot_state::RobotState& other_state, const AllowedCollisionMatrix* acm) const;
97 
98  std::vector<FCLGeometryConstPtr> geoms_;
99  std::vector<FCLCollisionObjectConstPtr> fcl_objs_;
100 };
101 }
102 
103 #endif
void constructFCLObject(const robot_state::RobotState &state, FCLObject &fcl_obj) const
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)...
CollisionRobotFCL(const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)
void allocSelfCollisionBroadPhase(const robot_state::RobotState &state, FCLManager &manager) const
std::vector< FCLGeometryConstPtr > geoms_
Generic interface to collision detection.
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...
void checkSelfCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
void getAttachedBodyObjects(const robot_state::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) const
This class represents a collision model of the robot and can be used for self collision checks (to ch...
std::vector< FCLCollisionObjectConstPtr > fcl_objs_
virtual void distanceSelf(const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state) const override
The distance to self-collision given the robot is at state state.
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
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...
void checkOtherCollisionHelper(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix *acm) const
Object defining bodies that can be attached to robot links. This is useful when handling objects pick...
Definition: attached_body.h:56
virtual void distanceOther(const DistanceRequest &req, DistanceResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const override
The distance to self-collision given the robot is at state state.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Dec 9 2018 03:51:46