#include <collision_world_fcl.h>

Inheritance diagram for collision_detection::CollisionWorldFCL:

Public Member Functions
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 the world are considered. Self collisions are not checked. More...

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked. More...

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked. More...

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked. More...

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. More...

virtual void	checkWorldCollision (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix &acm) const
	Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered. More...

	CollisionWorldFCL ()

	CollisionWorldFCL (const WorldPtr &world)

	CollisionWorldFCL (const CollisionWorldFCL &other, const WorldPtr &world)

virtual void	distanceRobot (const DistanceRequest &req, DistanceResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const override
	Compute the distance between a robot and the world. More...

virtual void	distanceWorld (const DistanceRequest &req, DistanceResult &res, const CollisionWorld &world) const override
	Compute the distance between another world. More...

virtual void	setWorld (const WorldPtr &world)

virtual	~CollisionWorldFCL ()

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

virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account. More...

virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2) const
	Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states) Any collision between any pair of links is checked for, NO collisions are ignored. More...

virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state1, const robot_state::RobotState &state2, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with itself or the world in a continuous manner (between two robot states). Allowed collisions specified by the allowed collision matrix are taken into account. More...

	CollisionWorld ()

	CollisionWorld (const WorldPtr &world)

	CollisionWorld (const CollisionWorld &other, const WorldPtr &world)
	A copy constructor. other should not be changed while the copy constructor is running. world must be the same world as used by other or a (not-yet-modified) copy of the world used by other. More...

double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...

double	distanceRobot (const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
	Compute the shortest distance between a robot and the world. More...

double	distanceWorld (const CollisionWorld &world, bool verbose=false) const
	The shortest distance to another world instance (world) More...

double	distanceWorld (const CollisionWorld &world, const AllowedCollisionMatrix &acm, bool verbose=false) const
	The shortest distance to another world instance (world), ignoring the distances between world elements that are allowed to collide (as specified by acm) More...

const WorldPtr &	getWorld ()

const WorldConstPtr &	getWorld () const

virtual	~CollisionWorld ()

Protected Member Functions
void	checkRobotCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state, const AllowedCollisionMatrix *acm) const

void	checkWorldCollisionHelper (const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world, const AllowedCollisionMatrix *acm) const

void	constructFCLObject (const World::Object *obj, FCLObject &fcl_obj) const

void	updateFCLObject (const std::string &id)

Protected Attributes
std::map< std::string, FCLObject >	fcl_objs_

std::unique_ptr< fcl::BroadPhaseCollisionManager >	manager_

Private Member Functions
void	initialize ()

void	notifyObjectChange (const ObjectConstPtr &obj, World::Action action)

Private Attributes
World::ObserverHandle	observer_handle_

Additional Inherited Members
Public Types inherited from collision_detection::CollisionWorld
typedef World::ObjectConstPtr	ObjectConstPtr

typedef World::ObjectPtr	ObjectPtr

Detailed Description

Definition at line 46 of file collision_world_fcl.h.

Constructor & Destructor Documentation

collision_detection::CollisionWorldFCL::CollisionWorldFCL ( )

Definition at line 49 of file collision_world_fcl.cpp.

collision_detection::CollisionWorldFCL::CollisionWorldFCL ( const WorldPtr & world )

explicit

Definition at line 59 of file collision_world_fcl.cpp.

collision_detection::CollisionWorldFCL::CollisionWorldFCL	(	const CollisionWorldFCL &	other,
		const WorldPtr &	world
	)

Definition at line 70 of file collision_world_fcl.cpp.

collision_detection::CollisionWorldFCL::~CollisionWorldFCL ( )

virtual

Definition at line 86 of file collision_world_fcl.cpp.

Member Function Documentation

void collision_detection::CollisionWorldFCL::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

virtual

Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state	The kinematic state for which checks are being made

Implements collision_detection::CollisionWorld.

Definition at line 91 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionWorld.

Definition at line 97 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2
	)		const

virtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made

Implements collision_detection::CollisionWorld.

Definition at line 104 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implements collision_detection::CollisionWorld.

Definition at line 111 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkRobotCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 119 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world
	)		const

virtual

Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
other_world	The other collision world

Implements collision_detection::CollisionWorld.

Definition at line 145 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkWorldCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Check whether a given set of objects is in collision with objects from another world. Allowed collisions are ignored. Any contacts are considered.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
other_world	The other collision world
acm	The allowed collision matrix.

Implements collision_detection::CollisionWorld.

Definition at line 151 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::checkWorldCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const CollisionWorld &	other_world,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 157 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::constructFCLObject	(	const World::Object *	obj,
		FCLObject &	fcl_obj
	)		const

protected

Definition at line 177 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::distanceRobot	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const CollisionRobot &	robot,
		const robot_state::RobotState &	state
	)		const

overridevirtual

Compute the distance between a robot and the world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
robot	The robot to check distance for
state	The state for the robot to check distances from

Implements collision_detection::CollisionWorld.

Definition at line 269 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::distanceWorld	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const CollisionWorld &	world
	)		const

overridevirtual

Compute the distance between another world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
world	The world to check distance for

Implements collision_detection::CollisionWorld.

Definition at line 281 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::initialize ( )

private

void collision_detection::CollisionWorldFCL::notifyObjectChange	(	const ObjectConstPtr &	obj,
		World::Action	action
	)

private

Definition at line 248 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::setWorld ( const WorldPtr & world )

virtual

set the world to use. This can be expensive unless the new and old world are empty. Passing NULL will result in a new empty world being created.

Reimplemented from collision_detection::CollisionWorld.

Reimplemented in collision_detection::CollisionWorldHybrid.

Definition at line 226 of file collision_world_fcl.cpp.

void collision_detection::CollisionWorldFCL::updateFCLObject ( const std::string & id )

protected

Definition at line 191 of file collision_world_fcl.cpp.

Member Data Documentation

std::map<std::string, FCLObject> collision_detection::CollisionWorldFCL::fcl_objs_

protected

Definition at line 86 of file collision_world_fcl.h.

std::unique_ptr<fcl::BroadPhaseCollisionManager> collision_detection::CollisionWorldFCL::manager_

protected

Definition at line 85 of file collision_world_fcl.h.

World::ObserverHandle collision_detection::CollisionWorldFCL::observer_handle_

private

Definition at line 91 of file collision_world_fcl.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation