chomp::ChompCollisionSpace Class Reference

#include <chomp_collision_space.h>

Public Member Functions
	ChompCollisionSpace ()
template<typename Derived , typename DerivedOther >
bool	getCollisionPointPotentialGradient (const ChompCollisionPoint &collision_point, const Eigen::MatrixBase< Derived > &collision_point_pos, double &potential, Eigen::MatrixBase< DerivedOther > &gradient) const
double	getDistanceGradient (double x, double y, double z, double &gradient_x, double &gradient_y, double &gradient_z) const
void	gridToWorld (btVector3 origin, int gx, int gy, int gz, double &wx, double &wy, double &wz) const
	Convert from voxel grid coordinates to world coordinates.
bool	init (planning_environment::CollisionSpaceMonitor *monitor_, double max_radius_clearance, std::string &reference_frame)
	Callback for CollisionMap messages.
void	lock ()
	Lock the collision space from updating/reading.
void	setStartState (const ChompRobotModel::ChompPlanningGroup &planning_group, const motion_planning_msgs::RobotState &robot_state)
void	unlock ()
	Unlock the collision space for updating/reading.
void	worldToGrid (btVector3 origin, double wx, double wy, double wz, int &gx, int &gy, int &gz) const
virtual	~ChompCollisionSpace ()
Private Member Functions
void	addAllBodiesButExcludeLinksToPoints (std::string group_name, std::vector< btVector3 > &body_points)
void	addBodiesInGroupToPoints (const std::string &group, std::vector< btVector3 > &voxels)
void	addCollisionCuboid (const std::string param_name)
void	addCollisionObjectsToPoints (std::vector< btVector3 > &points, const btTransform &cur)
double	dist (const btVector3 &v0, const btVector3 &v1)
void	getVoxelsInBody (const bodies::Body &body, std::vector< btVector3 > &voxels)
void	initCollisionCuboids ()
std::vector< btVector3 >	interpolateTriangle (btVector3 v0, btVector3 v1, btVector3 v2, double min_res)
void	loadRobotBodies ()
void	updateRobotBodiesPoses (const planning_models::KinematicState &state)
Private Attributes
planning_environment::CollisionModels *	collision_models_
std::vector< btVector3 >	cuboid_points_
std::map< std::string, std::vector< std::string > >	distance_exclude_links_
distance_field::PropagationDistanceField *	distance_field_
std::map< std::string, std::vector< std::string > >	distance_include_links_
double	field_bias_x_
double	field_bias_y_
double	field_bias_z_
double	max_expansion_
planning_environment::CollisionSpaceMonitor *	monitor_
boost::mutex	mutex_
ros::NodeHandle	node_handle_
std::map< std::string, std::vector< bodies::Body * > >	planning_group_bodies_
std::map< std::string, std::vector< std::string > >	planning_group_link_names_
std::string	reference_frame_
double	resolution_
ros::NodeHandle	root_handle_

Detailed Description

Definition at line 54 of file chomp_collision_space.h.

Constructor & Destructor Documentation

chomp::ChompCollisionSpace::ChompCollisionSpace ( )

Definition at line 41 of file chomp_collision_space.cpp.

chomp::ChompCollisionSpace::~ChompCollisionSpace ( ) [virtual]

Definition at line 47 of file chomp_collision_space.cpp.

Member Function Documentation

void chomp::ChompCollisionSpace::addAllBodiesButExcludeLinksToPoints	(	std::string	group_name,
		std::vector< btVector3 > &	body_points
	)			`[private]`

Definition at line 577 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::addBodiesInGroupToPoints	(	const std::string &	group,
		std::vector< btVector3 > &	voxels
	)			`[private]`

Definition at line 549 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::addCollisionCuboid ( const std::string param_name ) [private]

Definition at line 479 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::addCollisionObjectsToPoints	(	std::vector< btVector3 > &	points,
		const btTransform &	cur
	)			`[private]`

Definition at line 212 of file chomp_collision_space.cpp.

double chomp::ChompCollisionSpace::dist	(	const btVector3 &	v0,
		const btVector3 &	v1
	)			`[inline, private]`

Definition at line 124 of file chomp_collision_space.h.

template<typename Derived , typename DerivedOther >

bool chomp::ChompCollisionSpace::getCollisionPointPotentialGradient	(	const ChompCollisionPoint &	collision_point,
		const Eigen::MatrixBase< Derived > &	collision_point_pos,
		double &	potential,
		Eigen::MatrixBase< DerivedOther > &	gradient
	)			const `[inline]`

Definition at line 194 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::getDistanceGradient	(	double	x,
		double	y,
		double	z,
		double &	gradient_x,
		double &	gradient_y,
		double &	gradient_z
	)			const `[inline]`

Definition at line 187 of file chomp_collision_space.h.

void chomp::ChompCollisionSpace::getVoxelsInBody	(	const bodies::Body &	body,
		std::vector< btVector3 > &	voxels
	)			`[private]`

Definition at line 613 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::gridToWorld	(	btVector3	origin,
		int	gx,
		int	gy,
		int	gz,
		double &	wx,
		double &	wy,
		double &	wz
	)			const `[inline]`

Convert from voxel grid coordinates to world coordinates.

Definition at line 237 of file chomp_collision_space.h.

bool chomp::ChompCollisionSpace::init	(	planning_environment::CollisionSpaceMonitor *	monitor_,
		double	max_radius_clearance,
		std::string &	reference_frame
	)

Callback for CollisionMap messages.

Initializes the collision space, listens for messages, etc

Returns:: false if not successful

Definition at line 57 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::initCollisionCuboids ( ) [private]

Definition at line 468 of file chomp_collision_space.cpp.

std::vector<btVector3> chomp::ChompCollisionSpace::interpolateTriangle	(	btVector3	v0,
		btVector3	v1,
		btVector3	v2,
		double	min_res
	)			`[private]`

void chomp::ChompCollisionSpace::loadRobotBodies ( ) [private]

Definition at line 511 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::lock ( ) [inline]

Lock the collision space from updating/reading.

Definition at line 177 of file chomp_collision_space.h.

void chomp::ChompCollisionSpace::setStartState	(	const ChompRobotModel::ChompPlanningGroup &	planning_group,
		const motion_planning_msgs::RobotState &	robot_state
	)

Definition at line 167 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::unlock ( ) [inline]

Unlock the collision space for updating/reading.

Definition at line 182 of file chomp_collision_space.h.

void chomp::ChompCollisionSpace::updateRobotBodiesPoses ( const planning_models::KinematicState & state ) [private]

Definition at line 538 of file chomp_collision_space.cpp.

void chomp::ChompCollisionSpace::worldToGrid	(	btVector3	origin,
		double	wx,
		double	wy,
		double	wz,
		int &	gx,
		int &	gy,
		int &	gz
	)			const `[inline]`

Definition at line 230 of file chomp_collision_space.h.

Member Data Documentation

planning_environment::CollisionModels* chomp::ChompCollisionSpace::collision_models_ [private]

Definition at line 158 of file chomp_collision_space.h.

std::vector<btVector3> chomp::ChompCollisionSpace::cuboid_points_ [private]

Definition at line 143 of file chomp_collision_space.h.

std::map<std::string, std::vector<std::string> > chomp::ChompCollisionSpace::distance_exclude_links_ [private]

Definition at line 167 of file chomp_collision_space.h.

distance_field::PropagationDistanceField* chomp::ChompCollisionSpace::distance_field_ [private]

Definition at line 132 of file chomp_collision_space.h.

std::map<std::string, std::vector<std::string> > chomp::ChompCollisionSpace::distance_include_links_ [private]

Definition at line 168 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::field_bias_x_ [private]

Definition at line 147 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::field_bias_y_ [private]

Definition at line 148 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::field_bias_z_ [private]

Definition at line 149 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::max_expansion_ [private]

Definition at line 145 of file chomp_collision_space.h.

planning_environment::CollisionSpaceMonitor* chomp::ChompCollisionSpace::monitor_ [private]

Definition at line 151 of file chomp_collision_space.h.

boost::mutex chomp::ChompCollisionSpace::mutex_ [private]

Definition at line 142 of file chomp_collision_space.h.

ros::NodeHandle chomp::ChompCollisionSpace::node_handle_ [private]

Definition at line 131 of file chomp_collision_space.h.

std::map<std::string, std::vector<bodies::Body *> > chomp::ChompCollisionSpace::planning_group_bodies_ [private]

Definition at line 153 of file chomp_collision_space.h.

std::map<std::string, std::vector<std::string> > chomp::ChompCollisionSpace::planning_group_link_names_ [private]

Definition at line 152 of file chomp_collision_space.h.

std::string chomp::ChompCollisionSpace::reference_frame_ [private]

Definition at line 141 of file chomp_collision_space.h.

double chomp::ChompCollisionSpace::resolution_ [private]

Definition at line 146 of file chomp_collision_space.h.

ros::NodeHandle chomp::ChompCollisionSpace::root_handle_ [private]

Definition at line 131 of file chomp_collision_space.h.

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

chomp::ChompCollisionSpace Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation