planning_environment::CollisionModels Class Reference

A class capable of loading a robot model from the parameter server. More...

#include <collision_models.h>

Inheritance diagram for planning_environment::CollisionModels:

Public Member Functions
	CollisionModels (const std::string &description, const std::vector< std::string > &links)
	CollisionModels (const std::string &description)
	CollisionModels (const std::string &description, const std::vector< std::string > &links, double scale, double padd)
	CollisionModels (const std::string &description, double scale, double padd)
void	getDefaultOrderedCollisionOperations (std::vector< motion_planning_msgs::CollisionOperation > &self_collision)
const boost::shared_ptr < collision_space::EnvironmentModel > &	getODECollisionModel (void) const
	Return the instance of the constructed ODE collision model.
double	getPadding (void)
	Get the padding to be used for the robot parts when inserted in the collision space.
double	getScale (void)
	Return the instance of the constructed Bullet collision model.
virtual void	reload (void)
	Reload the robot description and recreate the model.
virtual	~CollisionModels (void)
Protected Member Functions
void	loadCollision (const std::vector< std::string > &links)
void	loadParams ()
void	setupModel (boost::shared_ptr< collision_space::EnvironmentModel > &model, const std::vector< std::string > &links)
Protected Attributes
std::vector< double >	boundingPlanes_
std::vector < motion_planning_msgs::CollisionOperation >	default_collision_operations_
boost::shared_ptr < collision_space::EnvironmentModel >	ode_collision_model_
double	padd_
double	scale_

Detailed Description

A class capable of loading a robot model from the parameter server.

Definition at line 47 of file collision_models.h.

Constructor & Destructor Documentation

planning_environment::CollisionModels::CollisionModels	(	const std::string &	description,
		double	scale,
		double	padd
	)			`[inline]`

Definition at line 46 of file collision_models.h.

planning_environment::CollisionModels::CollisionModels	(	const std::string &	description,
		const std::vector< std::string > &	links,
		double	scale,
		double	padd
	)			`[inline]`

Definition at line 51 of file collision_models.h.

planning_environment::CollisionModels::CollisionModels ( const std::string & description ) [inline]

Definition at line 56 of file collision_models.h.

planning_environment::CollisionModels::CollisionModels	(	const std::string &	description,
		const std::vector< std::string > &	links
	)			`[inline]`

Definition at line 62 of file collision_models.h.

virtual planning_environment::CollisionModels::~CollisionModels ( void ) [inline, virtual]

Definition at line 68 of file collision_models.h.

Member Function Documentation

void planning_environment::CollisionModels::getDefaultOrderedCollisionOperations ( std::vector< motion_planning_msgs::CollisionOperation > & self_collision ) [inline]

Definition at line 105 of file collision_models.h.

const boost::shared_ptr<collision_space::EnvironmentModel>& planning_environment::CollisionModels::getODECollisionModel ( void ) const [inline]

Return the instance of the constructed ODE collision model.

Definition at line 82 of file collision_models.h.

double planning_environment::CollisionModels::getPadding ( void ) [inline]

Get the padding to be used for the robot parts when inserted in the collision space.

Definition at line 100 of file collision_models.h.

double planning_environment::CollisionModels::getScale ( void ) [inline]

Return the instance of the constructed Bullet collision model.

Get the scaling to be used for the robot parts when inserted in the collision space

Definition at line 94 of file collision_models.h.

void planning_environment::CollisionModels::loadCollision ( const std::vector< std::string > & links ) [protected]

Definition at line 166 of file collision_models.cpp.

void planning_environment::CollisionModels::loadParams ( void ) [protected]

Definition at line 161 of file collision_models.cpp.

virtual void planning_environment::CollisionModels::reload ( void ) [inline, virtual]

Reload the robot description and recreate the model.

Reimplemented from planning_environment::RobotModels.

Definition at line 73 of file collision_models.h.

void planning_environment::CollisionModels::setupModel	(	boost::shared_ptr< collision_space::EnvironmentModel > &	model,
		const std::vector< std::string > &	links
	)			`[protected]`