Maintain a representation of the environment. More...

#include <world.h>

Classes
class	Action
	Represents an action that occurred on an object in the world. Several bits may be set indicating several things happened to the object. If the DESTROY bit is set, other bits will not be set. More...

struct	Object
	A representation of an object. More...

class	Observer

class	ObserverHandle

Public Types
enum	ActionBits { UNINITIALIZED = 0, CREATE = 1, DESTROY = 2, MOVE_SHAPE = 4, ADD_SHAPE = 8, REMOVE_SHAPE = 16 }

typedef std::map< std::string, ObjectPtr >::const_iterator	const_iterator

typedef boost::function< void(const ObjectConstPtr &, Action)>	ObserverCallbackFn

Public Member Functions
ObserverHandle	addObserver (const ObserverCallbackFn &callback)
	register a callback function for notification of changes. callback will be called right after any change occurs to any Object. observer is the object which is requesting the changes. It is only used for identifying the callback in removeObserver(). More...

void	addToObject (const std::string &id, const std::vector< shapes::ShapeConstPtr > &shapes, const EigenSTL::vector_Affine3d &poses)
	Add shapes to an object in the map. This function makes repeated calls to addToObjectInternal() to add the shapes one by one. More...

void	addToObject (const std::string &id, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose)
	Add a shape to an object. If the object already exists, this call will add the shape to the object at the specified pose. Otherwise, the object is created and the specified shape is added. This calls addToObjectInternal(). More...

const_iterator	begin () const

void	clearObjects ()
	Clear all objects. If there are no other pointers to corresponding instances of Objects, the memory is freed. More...

const_iterator	end () const

const_iterator	find (const std::string &id) const

ObjectConstPtr	getObject (const std::string &id) const
	Get a particular object. More...

std::vector< std::string >	getObjectIds () const
	Get the list of Object ids. More...

bool	hasObject (const std::string &id) const
	Check if a particular object exists in the collision world. More...

	MOVEIT_STRUCT_FORWARD (Object)

bool	moveObject (const std::string &id, const Eigen::Affine3d &transform)
	Move all shapes in an object according to the given transform specified in world frame. More...

bool	moveShapeInObject (const std::string &id, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose)
	Update the pose of a shape in an object. Shape equality is verified by comparing pointers. Returns true on success. More...

void	notifyObserverAllObjects (const ObserverHandle observer_handle, Action action) const

bool	removeObject (const std::string &id)
	Remove a particular object. If there are no external pointers to the corresponding instance of Object, the memory is freed. Returns true on success and false if no such object was found. More...

void	removeObserver (const ObserverHandle observer_handle)
	remove a notifier callback More...

bool	removeShapeFromObject (const std::string &id, const shapes::ShapeConstPtr &shape)
	Remove shape from object. Shape equality is verified by comparing pointers. Ownership of the object is renounced (i.e. object is deleted if no external references exist) if this was the last shape in the object. Returns true on success and false if the object did not exist or did not contain the shape. More...

std::size_t	size () const

	World ()
	Constructor. More...

	World (const World &other)
	A copy constructor. other should not be changed while the copy constructor is running This does copy on write and should be quick. More...

virtual	~World ()

Private Member Functions
virtual void	addToObjectInternal (const ObjectPtr &obj, const shapes::ShapeConstPtr &shape, const Eigen::Affine3d &pose)

void	ensureUnique (ObjectPtr &obj)
	Make sure that the object named id is known only to this instance of the World. If the object is known outside of it, a clone is made so that it can be safely modified later on. More...

void	notify (const ObjectConstPtr &, Action)

void	notifyAll (Action action)

Private Attributes
std::map< std::string, ObjectPtr >	objects_

std::vector< Observer * >	observers_

Detailed Description

Maintain a representation of the environment.

Definition at line 60 of file world.h.

Member Typedef Documentation

typedef std::map<std::string, ObjectPtr>::const_iterator collision_detection::World::const_iterator

iterator over the objects in the world.

Definition at line 117 of file world.h.

typedef boost::function<void(const ObjectConstPtr&, Action)> collision_detection::World::ObserverCallbackFn

Definition at line 232 of file world.h.

Member Enumeration Documentation

enum collision_detection::World::ActionBits

Enumerator
UNINITIALIZED
CREATE
DESTROY	object was created
MOVE_SHAPE	object was destroyed
ADD_SHAPE	one or more shapes in object were moved
REMOVE_SHAPE	shape(s) were added to object

Definition at line 182 of file world.h.

Constructor & Destructor Documentation

collision_detection::World::World ( )

Constructor.

Definition at line 42 of file world.cpp.

collision_detection::World::World ( const World & other )

A copy constructor. other should not be changed while the copy constructor is running This does copy on write and should be quick.

Definition at line 46 of file world.cpp.

collision_detection::World::~World ( )

virtual

Definition at line 51 of file world.cpp.

Member Function Documentation

World::ObserverHandle collision_detection::World::addObserver ( const ObserverCallbackFn & callback )

register a callback function for notification of changes. callback will be called right after any change occurs to any Object. observer is the object which is requesting the changes. It is only used for identifying the callback in removeObserver().

Definition at line 220 of file world.cpp.

void collision_detection::World::addToObject	(	const std::string &	id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const EigenSTL::vector_Affine3d &	poses
	)

Add shapes to an object in the map. This function makes repeated calls to addToObjectInternal() to add the shapes one by one.

Note: This function does NOT call the addToObject() variant that takes a single shape and a single pose as input.

Definition at line 64 of file world.cpp.

void collision_detection::World::addToObject	(	const std::string &	id,
		const shapes::ShapeConstPtr &	shape,
		const Eigen::Affine3d &	pose
	)

Add a shape to an object. If the object already exists, this call will add the shape to the object at the specified pose. Otherwise, the object is created and the specified shape is added. This calls addToObjectInternal().

Definition at line 94 of file world.cpp.

void collision_detection::World::addToObjectInternal	(	const ObjectPtr &	obj,
		const shapes::ShapeConstPtr &	shape,
		const Eigen::Affine3d &	pose
	)

inlineprivatevirtual

Definition at line 57 of file world.cpp.

const_iterator collision_detection::World::begin ( ) const

inline

iterator pointing to first change

Definition at line 119 of file world.h.

void collision_detection::World::clearObjects ( )

Clear all objects. If there are no other pointers to corresponding instances of Objects, the memory is freed.

Definition at line 214 of file world.cpp.

const_iterator collision_detection::World::end ( ) const

inline

iterator pointing to end of changes

Definition at line 124 of file world.h.

void collision_detection::World::ensureUnique ( ObjectPtr & obj )

private

Make sure that the object named id is known only to this instance of the World. If the object is known outside of it, a clone is made so that it can be safely modified later on.

Definition at line 128 of file world.cpp.

const_iterator collision_detection::World::find ( const std::string & id ) const

inline

find changes for a named object

Definition at line 134 of file world.h.

World::ObjectConstPtr collision_detection::World::getObject ( const std::string & id ) const

Get a particular object.

Definition at line 119 of file world.cpp.

std::vector< std::string > collision_detection::World::getObjectIds ( ) const

Get the list of Object ids.

Definition at line 111 of file world.cpp.

bool collision_detection::World::hasObject ( const std::string & id ) const

Check if a particular object exists in the collision world.

Definition at line 134 of file world.cpp.

collision_detection::World::MOVEIT_STRUCT_FORWARD ( Object )

bool collision_detection::World::moveObject	(	const std::string &	id,
		const Eigen::Affine3d &	transform
	)

Move all shapes in an object according to the given transform specified in world frame.

Definition at line 158 of file world.cpp.

bool collision_detection::World::moveShapeInObject	(	const std::string &	id,
		const shapes::ShapeConstPtr &	shape,
		const Eigen::Affine3d &	pose
	)

Update the pose of a shape in an object. Shape equality is verified by comparing pointers. Returns true on success.

Definition at line 139 of file world.cpp.

void collision_detection::World::notify	(	const ObjectConstPtr &	obj,
		Action	action
	)

private

notify all observers of a change

Definition at line 246 of file world.cpp.

void collision_detection::World::notifyAll ( Action action )

private

send notification of change to all objects.

Definition at line 240 of file world.cpp.

void collision_detection::World::notifyObserverAllObjects	(	const ObserverHandle	observer_handle,
		Action	action
	)		const

send notification of change to all objects to a particular observer. Used which switching from one world to another.

Definition at line 252 of file world.cpp.

bool collision_detection::World::removeObject ( const std::string & id )

Remove a particular object. If there are no external pointers to the corresponding instance of Object, the memory is freed. Returns true on success and false if no such object was found.

Definition at line 202 of file world.cpp.

void collision_detection::World::removeObserver ( const ObserverHandle observer_handle )

remove a notifier callback

Definition at line 227 of file world.cpp.

bool collision_detection::World::removeShapeFromObject	(	const std::string &	id,
		const shapes::ShapeConstPtr &	shape
	)

Remove shape from object. Shape equality is verified by comparing pointers. Ownership of the object is renounced (i.e. object is deleted if no external references exist) if this was the last shape in the object. Returns true on success and false if the object did not exist or did not contain the shape.

Definition at line 174 of file world.cpp.

std::size_t collision_detection::World::size ( ) const

inline

number of changes stored

Definition at line 129 of file world.h.

Member Data Documentation

std::map<std::string, ObjectPtr> collision_detection::World::objects_

private

The objects maintained in the world

Definition at line 264 of file world.h.

std::vector<Observer*> collision_detection::World::observers_

private

Definition at line 275 of file world.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation