collision_world_fcl.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
38 #define MOVEIT_COLLISION_DETECTION_FCL_COLLISION_WORLD_FCL_
39 
41 #include <fcl/broadphase/broadphase.h>
42 #include <memory>
43 
44 namespace collision_detection
45 {
47 {
48 public:
50  explicit CollisionWorldFCL(const WorldPtr& world);
51  CollisionWorldFCL(const CollisionWorldFCL& other, const WorldPtr& world);
52  virtual ~CollisionWorldFCL();
53 
54  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
55  const robot_state::RobotState& state) const;
56  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
57  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
58  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
59  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
60  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
61  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
62  const AllowedCollisionMatrix& acm) const;
63  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
64  const CollisionWorld& other_world) const;
65  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
66  const AllowedCollisionMatrix& acm) const;
67 
68  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
69  bool verbose = false) const;
70  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
71  const AllowedCollisionMatrix& acm, bool verbose = false) const;
72  virtual double distanceWorld(const CollisionWorld& world, bool verbose = false) const;
73  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm,
74  bool verbose = false) const;
75 
76  virtual void setWorld(const WorldPtr& world);
77 
78 protected:
79  void checkWorldCollisionHelper(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
80  const AllowedCollisionMatrix* acm) const;
82  const robot_state::RobotState& state, const AllowedCollisionMatrix* acm) const;
83  double distanceRobotHelper(const CollisionRobot& robot, const robot_state::RobotState& state,
84  const AllowedCollisionMatrix* acm, bool verbose = false) const;
85  double distanceWorldHelper(const CollisionWorld& world, const AllowedCollisionMatrix* acm,
86  bool verbose = false) const;
87 
88  void constructFCLObject(const World::Object* obj, FCLObject& fcl_obj) const;
89  void updateFCLObject(const std::string& id);
90 
91  std::unique_ptr<fcl::BroadPhaseCollisionManager> manager_;
92  std::map<std::string, FCLObject> fcl_objs_;
93 
94 private:
95  void initialize();
96  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
98 };
99 }
100 
101 #endif
double distanceRobotHelper(const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm, bool verbose=false) const
void updateFCLObject(const std::string &id)
void checkRobotCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const
Represents an action that occurred on an object in the world. Several bits may be set indicating seve...
Definition: world.h:192
std::unique_ptr< fcl::BroadPhaseCollisionManager > manager_
virtual double distanceWorld(const CollisionWorld &world, bool verbose=false) const
The shortest distance to another world instance (world)
Generic interface to collision detection.
double distanceWorldHelper(const CollisionWorld &world, const AllowedCollisionMatrix *acm, bool verbose=false) const
World::ObjectConstPtr ObjectConstPtr
bool verbose
virtual void setWorld(const WorldPtr &world)
A representation of an object.
Definition: world.h:80
void checkWorldCollisionHelper(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const
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.
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 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...
virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state, bool verbose=false) const
Compute the shortest distance between a robot and the 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:82
void notifyObjectChange(const ObjectConstPtr &obj, World::Action action)
std::map< std::string, FCLObject > fcl_objs_
void constructFCLObject(const World::Object *obj, FCLObject &fcl_obj) const


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