A class describing an environment for a kinematic robot using bullet. This class is still experimental, and methos such as cloning are not implemented. More...

#include <environmentBullet.h>

Inheritance diagram for collision_space::EnvironmentModelBullet:

[legend]

List of all members.

Classes
class	CollisionDispatcher
struct	GenericCollisionFilterCallback
struct	kGeom
struct	ModelInfo
struct	SelfCollisionFilterCallback
Public Member Functions
virtual void	addObject (const std::string &ns, shapes::StaticShape *shape)
	Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObject (const std::string &ns, shapes::Shape *shape, const tf::Transform &pose)
	Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.
virtual void	addObjects (const std::string &ns, const std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses)
	Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.
virtual void	clearObjects (void)
	Remove all objects from collision model.
virtual void	clearObjects (const std::string &ns)
	Remove objects from a specific namespace in the collision model.
virtual EnvironmentModel *	clone (void) const
	Clone the environment.
	EnvironmentModelBullet (void)
virtual const std::vector < const planning_models::KinematicModel::AttachedBodyModel * >	getAttachedBodies (void) const
virtual bool	getCollisionContacts (const std::vector< AllowedContact > &allowedContacts, std::vector< Contact > &contacts, unsigned int max_count=1)
	Get the list of contacts (collisions)
virtual bool	isCollision (void)
	Check if a model is in collision.
virtual bool	isSelfCollision (void)
	Check if a model is in self collision.
virtual void	removeCollidingObjects (const shapes::StaticShape *shape)
	Remove objects in the collision space that are collising with the object supplied as argument.
virtual void	removeCollidingObjects (const shapes::Shape *shape, const tf::Transform &pose)
	Remove objects in the collision space that are collising with the object supplied as argument.
virtual int	setCollisionCheck (const std::string &link, bool state)
	Enable/Disable collision checking for specific links. Return the previous value of the state (1 or 0) if succesful; -1 otherwise.
void	setCollisionCheckAll (bool state)
	Set collision checking for all links to state.
void	setCollisionCheckLinks (const std::vector< std::string > &links, bool state)
	Enable/Disable collision checking for a set of links.
void	setCollisionCheckOnlyLinks (const std::vector< std::string > &links, bool state)
	Set collision checking for the set of links to state, set collision checking for all other links to !state.
virtual void	setRobotModel (const boost::shared_ptr< const planning_models::KinematicModel > &model, const std::vector< std::string > &links, const std::map< std::string, double > &link_padding_map, double default_padding=0.0, double scale=1.0)
	Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.
virtual void	updateAttachedBodies (void)
	Update the set of bodies that are attached to the robot (re-creates them)
virtual void	updateRobotModel (void)
	Update the positions of the geometry used in collision detection.
virtual	~EnvironmentModelBullet (void)
Protected Member Functions
btCollisionObject *	createCollisionBody (const shapes::Shape *shape, double scale, double padding)
btCollisionObject *	createCollisionBody (const shapes::StaticShape *shape)
void	freeMemory (void)
Protected Attributes
btDefaultCollisionConfiguration *	m_config
GenericCollisionFilterCallback	m_genericCollisionFilterCallback
ModelInfo	m_modelGeom
std::map< std::string, std::vector< btCollisionObject * > >	m_obstacles
SelfCollisionFilterCallback	m_selfCollisionFilterCallback
btCollisionWorld *	m_world

Detailed Description

A class describing an environment for a kinematic robot using bullet. This class is still experimental, and methos such as cloning are not implemented.

Definition at line 49 of file environmentBullet.h.

Constructor & Destructor Documentation

collision_space::EnvironmentModelBullet::EnvironmentModelBullet ( void ) [inline]

Definition at line 53 of file environmentBullet.h.

virtual collision_space::EnvironmentModelBullet::~EnvironmentModelBullet ( void ) [inline, virtual]

Definition at line 63 of file environmentBullet.h.

Member Function Documentation

void collision_space::EnvironmentModelBullet::addObject	(	const std::string &	ns,
		shapes::StaticShape *	shape
	)		`[virtual]`

Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 334 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::addObject	(	const std::string &	ns,
		shapes::Shape *	shape,
		const tf::Transform &	pose
	)		`[virtual]`

Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 342 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::addObjects	(	const std::string &	ns,
		const std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses
	)		`[virtual]`

Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.

Implements collision_space::EnvironmentModel.

Definition at line 327 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::clearObjects ( void ) [virtual]

Remove all objects from collision model.

Implements collision_space::EnvironmentModel.

Definition at line 368 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::clearObjects ( const std::string & ns ) [virtual]

Remove objects from a specific namespace in the collision model.

Implements collision_space::EnvironmentModel.

Definition at line 351 of file environmentBullet.cpp.

collision_space::EnvironmentModel * collision_space::EnvironmentModelBullet::clone ( void ) const [virtual]

Clone the environment.

Implements collision_space::EnvironmentModel.

Definition at line 438 of file environmentBullet.cpp.

btCollisionObject * collision_space::EnvironmentModelBullet::createCollisionBody	(	const shapes::Shape *	shape,
		double	scale,
		double	padding
	)		`[protected]`

Definition at line 121 of file environmentBullet.cpp.

btCollisionObject * collision_space::EnvironmentModelBullet::createCollisionBody ( const shapes::StaticShape * shape ) [protected]

Definition at line 171 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::freeMemory ( void ) [protected]

Author:: Ioan Sucan

Definition at line 39 of file environmentBullet.cpp.

const std::vector< const planning_models::KinematicModel::AttachedBody * > collision_space::EnvironmentModelBullet::getAttachedBodies ( void ) const [virtual]

Definition at line 102 of file environmentBullet.cpp.

bool collision_space::EnvironmentModelBullet::getCollisionContacts	(	const std::vector< AllowedContact > &	allowedContacts,
		std::vector< Contact > &	contacts,
		unsigned int	max_count = `1`
	)		`[virtual]`

Get the list of contacts (collisions)

Definition at line 257 of file environmentBullet.cpp.

bool collision_space::EnvironmentModelBullet::isCollision ( void ) [virtual]

Check if a model is in collision.

Definition at line 240 of file environmentBullet.cpp.

bool collision_space::EnvironmentModelBullet::isSelfCollision ( void ) [virtual]

Check if a model is in self collision.

Definition at line 302 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::removeCollidingObjects ( const shapes::StaticShape * shape ) [virtual]

Remove objects in the collision space that are collising with the object supplied as argument.

Definition at line 319 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::removeCollidingObjects	(	const shapes::Shape *	shape,
		const tf::Transform &	pose
	)		`[virtual]`

Remove objects in the collision space that are collising with the object supplied as argument.

Definition at line 323 of file environmentBullet.cpp.

int collision_space::EnvironmentModelBullet::setCollisionCheck	(	const std::string &	link,
		bool	state
	)		`[virtual]`

Enable/Disable collision checking for specific links. Return the previous value of the state (1 or 0) if succesful; -1 otherwise.

Definition at line 374 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::setCollisionCheckAll ( bool state )

Set collision checking for all links to state.

Definition at line 430 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::setCollisionCheckLinks	(	const std::vector< std::string > &	links,
		bool	state
	)

Enable/Disable collision checking for a set of links.

Definition at line 390 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::setCollisionCheckOnlyLinks	(	const std::vector< std::string > &	links,
		bool	state
	)

Set collision checking for the set of links to state, set collision checking for all other links to !state.

Definition at line 408 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::setRobotModel	(	const boost::shared_ptr< const planning_models::KinematicModel > &	model,
		const std::vector< std::string > &	links,
		const std::map< std::string, double > &	link_padding_map,
		double	default_padding = `0.0`,
		double	scale = `1.0`
	)		`[virtual]`

Add a robot model. Ignore robot links if their name is not specified in the string vector. The scale argument can be used to increase or decrease the size of the robot's bodies (multiplicative factor). The padding can be used to increase or decrease the robot's bodies with by an additive term.

Definition at line 62 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::updateAttachedBodies ( void ) [virtual]

Update the set of bodies that are attached to the robot (re-creates them)

Implements collision_space::EnvironmentModel.

Definition at line 198 of file environmentBullet.cpp.

void collision_space::EnvironmentModelBullet::updateRobotModel ( void ) [virtual]

Update the positions of the geometry used in collision detection.

Definition at line 228 of file environmentBullet.cpp.