collision_robot_hybrid.cpp
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34 
35 /* Author: E. Gil Jones */
36 
38 
39 namespace collision_detection
40 {
41 CollisionRobotHybrid::CollisionRobotHybrid(const robot_model::RobotModelConstPtr& robot_model)
42  : CollisionRobotFCL(robot_model)
43 {
45 }
46 
48  const robot_model::RobotModelConstPtr& robot_model,
49  const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
50  double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
51  double max_propogation_distance, double padding, double scale)
52  : CollisionRobotFCL(robot_model)
53 {
55  robot_model, link_body_decompositions, size_x, size_y, size_z, use_signed_distance_field, resolution,
56  collision_tolerance, max_propogation_distance, padding, scale));
57 }
58 
60 {
61  crobot_distance_.reset(
63 }
64 
67  const robot_state::RobotState& state) const
68 {
69  crobot_distance_->checkSelfCollision(req, res, state);
70 }
71 
74  const robot_state::RobotState& state,
75  GroupStateRepresentationPtr& gsr) const
76 {
77  crobot_distance_->checkSelfCollision(req, res, state, gsr);
78 }
79 
82  const robot_state::RobotState& state,
84 {
85  crobot_distance_->checkSelfCollision(req, res, state, acm);
86 }
87 
90  const robot_state::RobotState& state,
92  GroupStateRepresentationPtr& gsr) const
93 {
94  crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
95 }
96 } // namespace collision_detection
Core components of MoveIt!
CollisionRobotDistanceFieldPtr crobot_distance_
Generic interface to collision detection.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionRobotHybrid(const robot_model::RobotModelConstPtr &robot_model)
static const double resolution
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state) const
const CollisionRobotDistanceFieldConstPtr getCollisionRobotDistanceField() const
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Oct 11 2019 03:56:04