Tesseract ROS Bullet environment utility function. More...
#include <tesseract_collision/bullet/bullet_utils.h>#include <tesseract_collision/bullet/bullet_collision_shape_cache.h>#include <LinearMath/btConvexHullComputer.h>#include <BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h>#include <BulletCollision/CollisionShapes/btShapeHull.h>#include <BulletCollision/Gimpact/btTriangleShapeEx.h>#include <boost/thread/mutex.hpp>#include <memory>#include <stdexcept>#include <octomap/octomap.h>#include <tesseract_geometry/geometries.h>
Include dependency graph for bullet_utils.cpp:
Go to the source code of this file.
Namespaces | |
| tesseract_collision | |
| tesseract_collision::tesseract_collision_bullet | |
Functions | |
| btScalar | tesseract_collision::tesseract_collision_bullet::addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int index0, const btCollisionObjectWrapper *colObj1Wrap, int index1, ContactTestData &collisions) |
| void | tesseract_collision::tesseract_collision_bullet::addCollisionObjectToBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher) |
| Add the collision object to broadphase. More... | |
| btScalar | tesseract_collision::tesseract_collision_bullet::addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int index0, const btCollisionObjectWrapper *colObj1Wrap, int index1, ContactTestData &collisions) |
| void | tesseract_collision::tesseract_collision_bullet::calculateContinuousData (ContactResult *col, const btCollisionObjectWrapper *cow, const btVector3 &pt_world, const btVector3 &normal_world, const btTransform &link_tf_inv, size_t link_index) |
| Calculate the continuous contact data for casted collision shape. More... | |
| Eigen::Matrix3d | tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btMatrix3x3 &r) |
| Eigen::Isometry3d | tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btTransform &t) |
| Eigen::Vector3d | tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btVector3 &v) |
| btTransform | tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Isometry3d &t) |
| btMatrix3x3 | tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Matrix3d &r) |
| btQuaternion | tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Quaterniond &q) |
| btVector3 | tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Vector3d &v) |
| COW::Ptr | tesseract_collision::tesseract_collision_bullet::createCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const CollisionShapeConstPtr &geom) |
| Create a bullet collision shape from tesseract collision shape. More... | |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Box::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Capsule::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::CompoundMesh::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Cone::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::ConvexMesh::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Cylinder::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Mesh::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Octree::ConstPtr &geom) |
| std::shared_ptr< BulletCollisionShape > | tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const tesseract_geometry::Sphere::ConstPtr &geom) |
| void | tesseract_collision::tesseract_collision_bullet::GetAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, btScalar &outsupport, btVector3 &outpt) |
| btTransform | tesseract_collision::tesseract_collision_bullet::getLinkTransformFromCOW (const btCollisionObjectWrapper *cow) |
| This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max. More... | |
| COW::Ptr | tesseract_collision::tesseract_collision_bullet::makeCastCollisionObject (const COW::Ptr &cow) |
| bool | tesseract_collision::tesseract_collision_bullet::needsCollisionCheck (const COW &cow1, const COW &cow2, const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &validator, bool verbose=false) |
| This is used to check if a collision check is required between the provided two collision objects. More... | |
| void | tesseract_collision::tesseract_collision_bullet::refreshBroadphaseProxy (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher) |
| Refresh the broadphase data structure. More... | |
| void | tesseract_collision::tesseract_collision_bullet::removeCollisionObjectFromBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher) |
| Remove the collision object from broadphase. More... | |
| void | tesseract_collision::tesseract_collision_bullet::updateBroadphaseAABB (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher) |
| Update the Broadphase AABB for the input collision object. More... | |
| void | tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow) |
| Update a collision objects filters. More... | |
| void | tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher) |
| Update a collision objects filters for broadphase. More... | |
Detailed Description
Tesseract ROS Bullet environment utility function.
- Date
- Dec 18, 2017
- Version
- TODO
- Bug:
- No known bugs
- Copyright
- Copyright (c) 2017, Southwest Research Institute
- Copyright (c) 2013, John Schulman
- License
- Software License Agreement (BSD-2-Clause)
- All rights reserved.
- Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Definition in file bullet_utils.cpp.