collision_detection Namespace Reference

Namespaces
	AllowedCollision
	BodyTypes
	DistanceRequestTypes
	World

Classes
class	AllowedCollisionMatrix
class	BodyDecomposition
struct	BodyDecompositionCache
struct	CollisionData
class	CollisionDetectorAllocator
class	CollisionDetectorAllocatorAllValid
class	CollisionDetectorAllocatorDistanceField
class	CollisionDetectorAllocatorFCL
class	CollisionDetectorAllocatorHybrid
class	CollisionDetectorAllocatorTemplate
struct	CollisionGeometryData
class	CollisionPlugin
class	CollisionPluginLoader
	This is used to load the collision plugin. More...
struct	CollisionRequest
struct	CollisionResult
class	CollisionRobot
class	CollisionRobotAllValid
class	CollisionRobotDistanceField
class	CollisionRobotDistanceFieldROS
class	CollisionRobotFCL
class	CollisionRobotHybrid
class	CollisionRobotHybridROS
struct	CollisionSphere
class	CollisionWorld
class	CollisionWorldAllValid
class	CollisionWorldDistanceField
class	CollisionWorldFCL
class	CollisionWorldHybrid
struct	Contact
struct	CostSource
struct	DistanceData
struct	DistanceFieldCacheEntry
struct	DistanceRequest
struct	DistanceResult
struct	DistanceResultsData
struct	FCLGeometry
struct	FCLManager
struct	FCLObject
struct	FCLShapeCache
struct	GradientInfo
struct	GroupStateRepresentation
struct	IfSameType
struct	IfSameType< T, T >
class	PosedBodyPointDecomposition
class	PosedBodyPointDecompositionVector
class	PosedBodySphereDecomposition
class	PosedBodySphereDecompositionVector
class	PosedDistanceField
struct	ProximityInfo
class	World
class	WorldDiff

Typedefs
typedef BodyTypes::Type	BodyType
typedef boost::function< bool(collision_detection::Contact &)>	DecideContactFn
typedef std::map< const std::pair< std::string, std::string >, std::vector< DistanceResultsData > >	DistanceMap
typedef DistanceRequestTypes::DistanceRequestType	DistanceRequestType
typedef std::shared_ptr< const fcl::CollisionObject >	FCLCollisionObjectConstPtr
typedef std::shared_ptr< fcl::CollisionObject >	FCLCollisionObjectPtr

Enumerations
enum	CollisionType

Functions
static bool	andDecideContact (const DecideContactFn &f1, const DecideContactFn &f2, Contact &contact)
void	cleanCollisionGeometryCache ()
bool	collisionCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data)
void	contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg)
void	costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_model::LinkModel *link, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const robot_state::AttachedBody *ab, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_model::LinkModel *link, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const robot_state::AttachedBody *ab, int shape_index)
std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Affine3d &relativeTransform)
bool	distanceCallback (fcl::CollisionObject *o1, fcl::CollisionObject *o2, void *data, double &min_dist)
bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)
void	fcl2contact (const fcl::Contact &fc, Contact &c)
void	fcl2costsource (const fcl::CostSource &fcs, CostSource &cs)
PosedBodyPointDecompositionVectorPtr	getAttachedBodyPointDecomposition (const robot_state::AttachedBody *att, double resolution)
PosedBodySphereDecompositionVectorPtr	getAttachedBodySphereDecomposition (const robot_state::AttachedBody *att, double resolution)
BodyDecompositionCache &	getBodyDecompositionCache ()
BodyDecompositionConstPtr	getBodyDecompositionCacheEntry (const shapes::ShapeConstPtr &shape, double resolution)
void	getBodySphereVisualizationMarkers (GroupStateRepresentationConstPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array)
void	getBodySphereVisualizationMarkers (GroupStateRepresentationPtr &gsr, std::string reference_frame, visualization_msgs::MarkerArray &body_marker_array)
void	getCollisionMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr)
void	getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035)
void	getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)
PosedBodyPointDecompositionVectorPtr	getCollisionObjectPointDecomposition (const collision_detection::World::Object &obj, double resolution)
bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance)
bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance, unsigned int num_coll, std::vector< unsigned int > &colls)
bool	getCollisionSphereGradients (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, GradientInfo &gradient, const CollisionType &type, double tolerance, bool subtract_radii, double maximum_value, bool stop_at_first_collision)
void	getCollisionSphereMarkers (const std_msgs::ColorRGBA &color, const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, visualization_msgs::MarkerArray &arr)
void	getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)
void	getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
void	getProximityGradientMarkers (const std::string &frame_id, const std::string &ns, const ros::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::MarkerArray &arr)
bool	getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)
FCLShapeCache &	GetShapeCache ()
double	getTotalCost (const std::set< CostSource > &cost_sources)
void	intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)
static bool	loadLinkBodySphereDecompositions (ros::NodeHandle &nh, const planning_models::RobotModelConstPtr &kmodel, std::map< std::string, std::vector< collision_detection::CollisionSphere > > &link_body_spheres)
	MOVEIT_CLASS_FORWARD (BodyDecomposition)
	MOVEIT_CLASS_FORWARD (CollisionRobotDistanceField)
	MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)
	MOVEIT_CLASS_FORWARD (CollisionPlugin)
	MOVEIT_CLASS_FORWARD (CollisionWorld)
	MOVEIT_CLASS_FORWARD (GroupStateRepresentation)
	MOVEIT_CLASS_FORWARD (WorldDiff)
	MOVEIT_CLASS_FORWARD (World)
	MOVEIT_CLASS_FORWARD (CollisionRobot)
	MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix)
	MOVEIT_CLASS_FORWARD (DistanceFieldCacheEntry)
	MOVEIT_STRUCT_FORWARD (CollisionGeometryData)
	MOVEIT_STRUCT_FORWARD (FCLGeometry)
int	refineContactNormals (const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5)
void	removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)
void	removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)
void	transform2fcl (const Eigen::Affine3d &b, fcl::Transform3f &f)
fcl::Transform3f	transform2fcl (const Eigen::Affine3d &b)

Variables
static const double	DEFAULT_COLLISION_TOLERANCE
static const double	DEFAULT_MAX_PROPOGATION_DISTANCE
static const double	DEFAULT_RESOLUTION
static const double	DEFAULT_SIZE_X
static const double	DEFAULT_SIZE_Y
static const double	DEFAULT_SIZE_Z
static const bool	DEFAULT_USE_SIGNED_DISTANCE_FIELD
	ENVIRONMENT
const double	EPSILON
	INTRA
	NONE
	SELF