collision_world_allvalid.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
38 #define MOVEIT_COLLISION_DETECTION_ALLVALID_COLLISION_WORLD_ALLVALID_
39 
41 
42 namespace collision_detection
43 {
44 class CollisionRobotAllValid;
45 
47 {
48 public:
50  explicit CollisionWorldAllValid(const WorldPtr& world);
51  CollisionWorldAllValid(const CollisionWorld& other, const WorldPtr& world);
52 
53  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
54  const robot_state::RobotState& state) const;
55  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
56  const robot_state::RobotState& state, const AllowedCollisionMatrix& acm) const;
57  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
58  const robot_state::RobotState& state1, const robot_state::RobotState& state2) const;
59  virtual void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const CollisionRobot& robot,
60  const robot_state::RobotState& state1, const robot_state::RobotState& state2,
61  const AllowedCollisionMatrix& acm) const;
62 
63  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res,
64  const CollisionWorld& other_world) const;
65  virtual void checkWorldCollision(const CollisionRequest& req, CollisionResult& res, const CollisionWorld& other_world,
66  const AllowedCollisionMatrix& acm) const;
67 
68  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state) const;
69  virtual double distanceRobot(const CollisionRobot& robot, const robot_state::RobotState& state,
70  const AllowedCollisionMatrix& acm) const;
71  virtual void distanceRobot(const DistanceRequest& req, DistanceResult& res, const CollisionRobot& robot,
72  const robot_state::RobotState& state) const override;
73  virtual double distanceWorld(const CollisionWorld& world) const;
74  virtual double distanceWorld(const CollisionWorld& world, const AllowedCollisionMatrix& acm) const;
75  virtual void distanceWorld(const DistanceRequest& req, DistanceResult& res,
76  const CollisionWorld& world) const override;
77 };
78 }
79 
80 #endif
virtual double distanceWorld(const CollisionWorld &world) const
virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const
Generic interface to collision detection.
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
This class represents a collision model of the robot and can be used for self collision checks (to ch...
virtual void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
Perform collision checking with the environment. The collision world maintains a representation of th...
virtual void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Representation of a robot's state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123


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