collision_env_allvalid.cpp
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34 
35 /* Author: Ioan Sucan, Jia Pan, Jens Petit */
36 
39 
40 namespace collision_detection
41 {
42 namespace
43 {
44 static const std::string NAME = "ALL_VALID";
45 } // namespace
46 
47 CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, double padding,
48  double scale)
49  : CollisionEnv(robot_model, padding, scale)
50 {
51 }
52 
53 CollisionEnvAllValid::CollisionEnvAllValid(const moveit::core::RobotModelConstPtr& robot_model, const WorldPtr& world,
54  double padding, double scale)
55  : CollisionEnv(robot_model, world, padding, scale)
56 {
57 }
58 
59 CollisionEnvAllValid::CollisionEnvAllValid(const CollisionEnv& other, const WorldPtr& world)
60  : CollisionEnv(other, world)
61 {
62 }
63 
64 void CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
65  const moveit::core::RobotState& /*state*/) const
66 {
67  res.collision = false;
68  if (req.verbose)
69  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
70 }
71 
72 void CollisionEnvAllValid::checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
73  const moveit::core::RobotState& /*state*/,
74  const AllowedCollisionMatrix& /*acm*/) const
75 {
76  res.collision = false;
77  if (req.verbose)
78  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
79 }
80 
82  const moveit::core::RobotState& /*state1*/,
83  const moveit::core::RobotState& /*state2*/) const
84 {
85  res.collision = false;
86  if (req.verbose)
87  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
88 }
89 
91  const moveit::core::RobotState& /*state1*/,
92  const moveit::core::RobotState& /*state2*/,
93  const AllowedCollisionMatrix& /*acm*/) const
94 {
95  res.collision = false;
96  if (req.verbose)
97  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
98 }
99 
101  const moveit::core::RobotState& /*state*/) const
102 {
103  res.collision = false;
104 }
105 
107 {
108  return 0.0;
109 }
110 
112  const AllowedCollisionMatrix& /*acm*/) const
113 {
114  return 0.0;
115 }
116 
118  const moveit::core::RobotState& /*state*/) const
119 {
120  res.collision = false;
121  if (req.verbose)
122  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
123 }
124 
126  const moveit::core::RobotState& /*state*/,
127  const AllowedCollisionMatrix& /*acm*/) const
128 {
129  res.collision = false;
130  if (req.verbose)
131  ROS_INFO_NAMED("collision_detection", "Using AllValid collision detection. No collision checking is performed.");
132 }
133 
135  const moveit::core::RobotState& /*state*/) const
136 {
137  res.collision = false;
138 }
139 
140 const std::string& CollisionDetectorAllocatorAllValid::getName() const
141 {
142  return NAME;
143 }
144 
145 } // namespace collision_detection
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:83
collision_detector_allocator_allvalid.h
collision_detection::CollisionEnvAllValid::checkRobotCollision
void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Definition: collision_env_allvalid.cpp:96
collision_detection::CollisionDetectorAllocatorAllValid::getName
const std::string & getName() const override
Definition: collision_env_allvalid.cpp:172
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
collision_detection::CollisionRequest
Representation of a collision checking request.
Definition: include/moveit/collision_detection/collision_common.h:216
collision_env_allvalid.h
collision_detection::AllowedCollisionMatrix
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
Definition: collision_matrix.h:112
collision_detection::NAME
static const std::string NAME
Definition: collision_env_fcl.cpp:81
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid
CollisionEnvAllValid(const moveit::core::RobotModelConstPtr &robot_model, double padding=0.0, double scale=1.0)
Definition: collision_env_allvalid.cpp:79
ROS_INFO_NAMED
#define ROS_INFO_NAMED(name,...)
collision_detection::CollisionResult
Representation of a collision checking result.
Definition: include/moveit/collision_detection/collision_common.h:177
collision_detection::CollisionRequest::verbose
bool verbose
Flag indicating whether information about detected collisions should be reported.
Definition: include/moveit/collision_detection/collision_common.h:258
collision_detection::DistanceResult::collision
bool collision
Indicates if two objects were in collision.
Definition: include/moveit/collision_detection/collision_common.h:397
collision_detection::DistanceResult
Result of a distance request.
Definition: include/moveit/collision_detection/collision_common.h:390
collision_detection::CollisionResult::collision
bool collision
True if collision was found, false otherwise.
Definition: include/moveit/collision_detection/collision_common.h:200
collision_detection::CollisionEnvAllValid::distanceSelf
void distanceSelf(const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const override
The distance to self-collision given the robot is at state state.
Definition: collision_env_allvalid.cpp:166
collision_detection::CollisionEnvAllValid::checkSelfCollision
void checkSelfCollision(const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
Check for robot self collision. Any collision between any pair of links is checked for,...
Definition: collision_env_allvalid.cpp:149
collision_detection::DistanceRequest
Representation of a distance-reporting request.
Definition: include/moveit/collision_detection/collision_common.h:274
collision_detection::CollisionEnvAllValid::distanceRobot
virtual double distanceRobot(const moveit::core::RobotState &state) const
Definition: collision_env_allvalid.cpp:138
collision_detection
Definition: collision_detector_allocator_allvalid.h:42


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 24 2021 02:23:51