collision_world_allvalid.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
40 {
41 }
42 
44 {
45 }
46 
48  : CollisionWorld(other, world)
49 {
50 }
51 
53  const CollisionRobot& robot,
54  const robot_state::RobotState& state) const
55 {
56  res.collision = false;
57  if (req.verbose)
58  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
59 }
60 
62  const CollisionRobot& robot,
63  const robot_state::RobotState& state,
64  const AllowedCollisionMatrix& acm) const
65 {
66  res.collision = false;
67  if (req.verbose)
68  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
69 }
70 
72  const CollisionRobot& robot,
73  const robot_state::RobotState& state1,
74  const robot_state::RobotState& state2) const
75 {
76  res.collision = false;
77  if (req.verbose)
78  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
79 }
80 
82  const CollisionRobot& robot,
83  const robot_state::RobotState& state1,
84  const robot_state::RobotState& state2,
85  const AllowedCollisionMatrix& acm) const
86 {
87  res.collision = false;
88  if (req.verbose)
89  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
90 }
91 
93  const CollisionWorld& other_world) const
94 {
95  res.collision = false;
96  if (req.verbose)
97  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
98 }
99 
101  const CollisionWorld& other_world,
102  const AllowedCollisionMatrix& acm) const
103 {
104  res.collision = false;
105  if (req.verbose)
106  CONSOLE_BRIDGE_logInform("Using AllValid collision detection. No collision checking is performed.");
107 }
108 
110  const robot_state::RobotState& state) const
111 {
112  return 0.0;
113 }
114 
116  const robot_state::RobotState& state,
117  const AllowedCollisionMatrix& acm) const
118 {
119  return 0.0;
120 }
121 
123 {
124  return 0.0;
125 }
126 
128  const AllowedCollisionMatrix& acm) const
129 {
130  return 0.0;
131 }
132 
virtual double distanceWorld(const CollisionWorld &world) const
virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const
bool collision
True if collision was found, false otherwise.
bool verbose
Flag indicating whether information about detected collisions should be reported. ...
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
#define CONSOLE_BRIDGE_logInform(fmt,...)
This class represents a collision model of the robot and can be used for self collision checks (to ch...
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.
Perform collision checking with the environment. The collision world maintains a representation of th...
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...
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