collision_world.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
40 namespace collision_detection
41 {
42 CollisionWorld::CollisionWorld() : world_(new World()), world_const_(world_)
43 {
44 }
45 
46 CollisionWorld::CollisionWorld(const WorldPtr& world) : world_(world), world_const_(world)
47 {
48 }
49 
50 CollisionWorld::CollisionWorld(const CollisionWorld& other, const WorldPtr& world) : world_(world), world_const_(world)
51 {
52 }
53 
55  const robot_state::RobotState& state) const
56 {
57  robot.checkSelfCollision(req, res, state);
58  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
59  checkRobotCollision(req, res, robot, state);
60 }
61 
63  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
64 {
65  robot.checkSelfCollision(req, res, state, acm);
66  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
67  checkRobotCollision(req, res, robot, state, acm);
68 }
69 
71  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const
72 {
73  robot.checkSelfCollision(req, res, state1, state2);
74  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
75  checkRobotCollision(req, res, robot, state1, state2);
76 }
77 
79  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
80  const AllowedCollisionMatrix& acm) const
81 {
82  robot.checkSelfCollision(req, res, state1, state2, acm);
83  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
84  checkRobotCollision(req, res, robot, state1, state2, acm);
85 }
86 
87 void CollisionWorld::setWorld(const WorldPtr& world)
88 {
89  world_ = world;
90  if (!world_)
91  world_.reset(new World());
92 
93  world_const_ = world;
94 }
95 
96 } // end of namespace collision_detection
virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const =0
Check for self collision. Any collision between any pair of links is checked for, NO collisions are i...
Maintain a representation of the environment.
Definition: world.h:60
ContactMap contacts
A map returning the pairs of ids of the bodies in contact, plus information about the contacts themse...
Generic interface to collision detection.
bool collision
True if collision was found, false otherwise.
std::size_t max_contacts
Overall maximum number of contacts to compute.
virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const =0
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
This class represents a collision model of the robot and can be used for self collision checks (to ch...
virtual void setWorld(const WorldPtr &world)
Perform collision checking with the environment. The collision world maintains a representation of th...
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
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...


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Oct 18 2018 02:47:08