#include <collision_robot_hybrid.h>

Inheritance diagram for collision_detection::CollisionRobotHybrid:

Public Member Functions
void	checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state) const

void	checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state, GroupStateRepresentationPtr &gsr) const

void	checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const

void	checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionRobotHybrid (const robot_model::RobotModelConstPtr &kmodel)

	CollisionRobotHybrid (const robot_model::RobotModelConstPtr &kmodel, const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, double size_x=3.0, double size_y=3.0, double size_z=4.0, bool use_signed_distance_field=false, double resolution=.02, double collision_tolerance=0.0, double max_propogation_distance=.25, double padding=0.0, double scale=1.0)

	CollisionRobotHybrid (const CollisionRobotHybrid &other)

const CollisionRobotDistanceFieldConstPtr	getCollisionRobotDistanceField () const

void	initializeRobotDistanceField (const std::map< std::string, std::vector< CollisionSphere >> &link_body_decompositions, double size_x, double size_y, double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)

Public Member Functions inherited from collision_detection::CollisionRobotFCL
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). Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const
	Check for collision with a different robot (possibly a different kinematic model as well). Allowed collisions specified by the allowed collision matrix are taken into account. More...

virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2) const
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkOtherCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const CollisionRobot &other_robot, const robot_state::RobotState &other_state1, const robot_state::RobotState &other_state2, const AllowedCollisionMatrix &acm) const
	Check for collision with a different robot (possibly a different kinematic model as well), in a continuous fashion. Allowed collisions specified by the allowed collision matrix are taken into account. More...

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 ignored. More...

virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...

virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
	Check for self collision in a continuous manner. Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. More...

	CollisionRobotFCL (const robot_model::RobotModelConstPtr &kmodel, double padding=0.0, double scale=1.0)

	CollisionRobotFCL (const CollisionRobotFCL &other)

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. More...

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. More...

Public Member Functions inherited from collision_detection::CollisionRobot
	CollisionRobot (const robot_model::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
	Constructor. More...

	CollisionRobot (const CollisionRobot &other)
	A copy constructor. More...

double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state) const
	The distance to another robot instance. More...

double	distanceOther (const robot_state::RobotState &state, const CollisionRobot &other_robot, const robot_state::RobotState &other_state, const AllowedCollisionMatrix &acm) const
	The distance to another robot instance, ignoring distances between links that are allowed to always collide. More...

double	distanceSelf (const robot_state::RobotState &state) const
	The distance to self-collision given the robot is at state state. More...

double	distanceSelf (const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm) More...

double	getLinkPadding (const std::string &link_name) const
	Get the link padding for a particular link. More...

const std::map< std::string, double > &	getLinkPadding () const
	Get the link paddings as a map (from link names to padding value) More...

double	getLinkScale (const std::string &link_name) const
	Set the scaling for a particular link. More...

const std::map< std::string, double > &	getLinkScale () const
	Get the link scaling as a map (from link names to scale value) More...

void	getPadding (std::vector< moveit_msgs::LinkPadding > &padding) const
	Get the link padding as a vector of messages. More...

const robot_model::RobotModelConstPtr &	getRobotModel () const
	The kinematic model corresponding to this collision model. More...

void	getScale (std::vector< moveit_msgs::LinkScale > &scale) const
	Get the link scaling as a vector of messages. More...

void	setLinkPadding (const std::string &link_name, double padding)
	Set the link padding for a particular link. More...

void	setLinkPadding (const std::map< std::string, double > &padding)
	Set the link paddings using a map (from link names to padding value) More...

void	setLinkScale (const std::string &link_name, double scale)
	Set the scaling for a particular link. More...

void	setLinkScale (const std::map< std::string, double > &scale)
	Set the link scaling using a map (from link names to scale value) More...

void	setPadding (double padding)
	Set the link padding (for every link) More...

void	setPadding (const std::vector< moveit_msgs::LinkPadding > &padding)
	Set the link padding from a vector of messages. More...

void	setScale (double scale)
	Set the link scaling (for every link) More...

void	setScale (const std::vector< moveit_msgs::LinkScale > &scale)
	Set the link scaling from a vector of messages. More...

virtual	~CollisionRobot ()

Protected Attributes
CollisionRobotDistanceFieldPtr	crobot_distance_

Protected Attributes inherited from collision_detection::CollisionRobotFCL
std::vector< FCLCollisionObjectConstPtr >	fcl_objs_

std::vector< FCLGeometryConstPtr >	geoms_

Protected Attributes inherited from collision_detection::CollisionRobot
std::map< std::string, double >	link_padding_
	The internally maintained map (from link names to padding) More...

std::map< std::string, double >	link_scale_
	The internally maintained map (from link names to scaling) More...

robot_model::RobotModelConstPtr	robot_model_
	The kinematic model corresponding to this collision model. More...

Additional Inherited Members
Protected Member Functions inherited from collision_detection::CollisionRobotFCL
void	allocSelfCollisionBroadPhase (const robot_state::RobotState &state, FCLManager &manager) const

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

void	checkSelfCollisionHelper (const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const

void	constructFCLObject (const robot_state::RobotState &state, FCLObject &fcl_obj) const

void	getAttachedBodyObjects (const robot_state::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) const

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, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes. More...

Detailed Description

Definition at line 49 of file collision_robot_hybrid.h.

Constructor & Destructor Documentation

collision_detection::CollisionRobotHybrid::CollisionRobotHybrid ( const robot_model::RobotModelConstPtr & kmodel )

Definition at line 41 of file collision_robot_hybrid.cpp.

collision_detection::CollisionRobotHybrid::CollisionRobotHybrid	(	const robot_model::RobotModelConstPtr &	kmodel,
		const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions,
		double	size_x = `3.0`,
		double	size_y = `3.0`,
		double	size_z = `4.0`,
		bool	use_signed_distance_field = `false`,
		double	resolution = `.02`,
		double	collision_tolerance = `0.0`,
		double	max_propogation_distance = `.25`,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Definition at line 46 of file collision_robot_hybrid.cpp.

collision_detection::CollisionRobotHybrid::CollisionRobotHybrid ( const CollisionRobotHybrid & other )

Definition at line 58 of file collision_robot_hybrid.cpp.

Member Function Documentation

void collision_detection::CollisionRobotHybrid::checkSelfCollisionDistanceField	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	state
	)		const

Definition at line 64 of file collision_robot_hybrid.cpp.

void collision_detection::CollisionRobotHybrid::checkSelfCollisionDistanceField	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	state,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 71 of file collision_robot_hybrid.cpp.

void collision_detection::CollisionRobotHybrid::checkSelfCollisionDistanceField	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm
	)		const

Definition at line 79 of file collision_robot_hybrid.cpp.

void collision_detection::CollisionRobotHybrid::checkSelfCollisionDistanceField	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const robot_state::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix &	acm,
		GroupStateRepresentationPtr &	gsr
	)		const

Definition at line 87 of file collision_robot_hybrid.cpp.

const CollisionRobotDistanceFieldConstPtr collision_detection::CollisionRobotHybrid::getCollisionRobotDistanceField ( ) const

inline

Definition at line 90 of file collision_robot_hybrid.h.

void collision_detection::CollisionRobotHybrid::initializeRobotDistanceField	(	const std::map< std::string, std::vector< CollisionSphere >> &	link_body_decompositions,
		double	size_x,
		double	size_y,
		double	size_z,
		bool	use_signed_distance_field,
		double	resolution,
		double	collision_tolerance,
		double	max_propogation_distance
	)

inline

Definition at line 65 of file collision_robot_hybrid.h.

Member Data Documentation

CollisionRobotDistanceFieldPtr collision_detection::CollisionRobotHybrid::crobot_distance_

protected

Definition at line 96 of file collision_robot_hybrid.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation