collision_world.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
40 namespace collision_detection
41 {
42 CollisionWorld::CollisionWorld() : world_(new World()), world_const_(world_)
43 {
44 }
45 
46 CollisionWorld::CollisionWorld(const WorldPtr& world) : world_(world), world_const_(world)
47 {
48 }
49 
50 CollisionWorld::CollisionWorld(const CollisionWorld& other, const WorldPtr& world) : world_(world), world_const_(world)
51 {
52 }
53 
55  const robot_state::RobotState& state) const
56 {
57  robot.checkSelfCollision(req, res, state);
58  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
59  checkRobotCollision(req, res, robot, state);
60 }
61 
63  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const
64 {
65  robot.checkSelfCollision(req, res, state, acm);
66  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
67  checkRobotCollision(req, res, robot, state, acm);
68 }
69 
71  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const
72 {
73  robot.checkSelfCollision(req, res, state1, state2);
74  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
75  checkRobotCollision(req, res, robot, state1, state2);
76 }
77 
79  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
80  const AllowedCollisionMatrix& acm) const
81 {
82  robot.checkSelfCollision(req, res, state1, state2, acm);
83  if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
84  checkRobotCollision(req, res, robot, state1, state2, acm);
85 }
86 
87 void CollisionWorld::setWorld(const WorldPtr& world)
88 {
89  world_ = world;
90  if (!world_)
91  world_.reset(new World());
92 
93  world_const_ = world;
94 }
95 
96 } // end of namespace collision_detection
virtual void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const robot_state::RobotState &state) const =0
Check for self collision. Any collision between any pair of links is checked for, NO collisions are i...
Maintain a representation of the environment.
Definition: world.h:60
ContactMap contacts
A map returning the pairs of body ids in contact, plus their contact details.
Generic interface to collision detection.
bool collision
True if collision was found, false otherwise.
std::size_t max_contacts
Overall maximum number of contacts to compute.
virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const =0
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
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...
bool contacts
If true, compute contacts. Otherwise only a binary collision yes/no is reported.
virtual void setWorld(const WorldPtr &world)
Perform collision checking with the environment. The collision world maintains a representation of th...
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...
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:122


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Feb 17 2020 03:50:49