collision_robot_hybrid.cpp
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34 
35 /* Author: E. Gil Jones */
36 
38 
39 namespace collision_detection
40 {
41 CollisionRobotHybrid::CollisionRobotHybrid(const robot_model::RobotModelConstPtr& kmodel) : CollisionRobotFCL(kmodel)
42 {
44 }
45 
47  const robot_model::RobotModelConstPtr& kmodel,
48  const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
49  double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance,
50  double max_propogation_distance, double padding, double scale)
51  : CollisionRobotFCL(kmodel)
52 {
54  kmodel, link_body_decompositions, size_x, size_y, size_z, use_signed_distance_field, resolution,
55  collision_tolerance, max_propogation_distance, padding, scale));
56 }
57 
59 {
60  crobot_distance_.reset(
62 }
63 
66  const robot_state::RobotState& state) const
67 {
68  crobot_distance_->checkSelfCollision(req, res, state);
69 }
70 
73  const robot_state::RobotState& state,
74  GroupStateRepresentationPtr& gsr) const
75 {
76  crobot_distance_->checkSelfCollision(req, res, state, gsr);
77 }
78 
81  const robot_state::RobotState& state,
83 {
84  crobot_distance_->checkSelfCollision(req, res, state, acm);
85 }
86 
89  const robot_state::RobotState& state,
91  GroupStateRepresentationPtr& gsr) const
92 {
93  crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
94 }
95 }
const CollisionRobotDistanceFieldConstPtr getCollisionRobotDistanceField() const
CollisionRobotDistanceFieldPtr crobot_distance_
Generic interface to collision detection.
static const double resolution
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
void checkSelfCollisionDistanceField(const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const robot_state::RobotState &state) const
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionRobotHybrid(const robot_model::RobotModelConstPtr &kmodel)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 18 2020 13:16:33