#include <continuous_contact_manager.h>

Inheritance diagram for tesseract_collision::ContinuousContactManager:

Public Types
using	ConstPtr = std::shared_ptr< const ContinuousContactManager >

using	ConstUPtr = std::unique_ptr< const ContinuousContactManager >

using	Ptr = std::shared_ptr< ContinuousContactManager >

using	UPtr = std::unique_ptr< ContinuousContactManager >

Public Member Functions
virtual bool	addCollisionObject (const std::string &name, const int &mask_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true)=0
	Add a collision object to the checker. More...

virtual void	applyContactManagerConfig (const ContactManagerConfig &config)
	Applies settings in the config. More...

virtual ContinuousContactManager::UPtr	clone () const =0
	Clone the manager. More...

virtual void	contactTest (ContactResultMap &collisions, const ContactRequest &request)=0
	Perform a contact test for all objects based. More...

	ContinuousContactManager ()=default

	ContinuousContactManager (const ContinuousContactManager &)=delete

	ContinuousContactManager (ContinuousContactManager &&)=delete

virtual bool	disableCollisionObject (const std::string &name)=0
	Disable an object. More...

virtual bool	enableCollisionObject (const std::string &name)=0
	Enable an object. More...

virtual const std::vector< std::string > &	getActiveCollisionObjects () const =0
	Get which collision objects can move. More...

virtual const CollisionMarginData &	getCollisionMarginData () const =0
	Get the contact distance threshold. More...

virtual const CollisionShapesConst &	getCollisionObjectGeometries (const std::string &name) const =0
	Get a collision objects collision geometries. More...

virtual const tesseract_common::VectorIsometry3d &	getCollisionObjectGeometriesTransforms (const std::string &name) const =0
	Get a collision objects collision geometries transforms. More...

virtual const std::vector< std::string > &	getCollisionObjects () const =0
	Get all collision objects. More...

virtual std::shared_ptr< const tesseract_common::ContactAllowedValidator >	getContactAllowedValidator () const =0
	Get the active function for determining if two links are allowed to be in collision. More...

virtual std::string	getName () const =0
	Get the name of the contact manager. More...

virtual bool	hasCollisionObject (const std::string &name) const =0
	Find if a collision object already exists. More...

virtual void	incrementCollisionMargin (double increment)=0
	Increment the collision margin data by some value. More...

virtual bool	isCollisionObjectEnabled (const std::string &name) const =0
	Check if collision object is enabled. More...

ContinuousContactManager &	operator= (const ContinuousContactManager &)=delete

ContinuousContactManager &	operator= (ContinuousContactManager &&)=delete

virtual bool	removeCollisionObject (const std::string &name)=0
	Remove an object from the checker. More...

virtual void	setActiveCollisionObjects (const std::vector< std::string > &names)=0
	Set which collision objects can move. More...

virtual void	setCollisionMarginData (CollisionMarginData collision_margin_data)=0
	Set the contact distance threshold. More...

virtual void	setCollisionMarginPair (const std::string &name1, const std::string &name2, double collision_margin)=0
	Set the margin for a given contact pair. More...

virtual void	setCollisionMarginPairData (const CollisionMarginPairData &pair_margin_data, CollisionMarginPairOverrideType override_type=CollisionMarginPairOverrideType::REPLACE)=0
	Set the pair contact distance thresholds for which collision should be considered on a per pair basis. More...

virtual void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose)=0
	Set a single static collision object's tansforms. More...

virtual void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2)=0
	Set a single cast(moving) collision object's tansforms. More...

virtual void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &pose1, const tesseract_common::VectorIsometry3d &pose2)=0
	Set a series of cast(moving) collision object's tranforms. More...

virtual void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &poses)=0
	Set a series of static collision object's tranforms. More...

virtual void	setCollisionObjectsTransform (const tesseract_common::TransformMap &pose1, const tesseract_common::TransformMap &pose2)=0
	Set a series of cast(moving) collision object's tranforms. More...

virtual void	setCollisionObjectsTransform (const tesseract_common::TransformMap &transforms)=0
	Set a series of static collision object's tranforms. More...

virtual void	setContactAllowedValidator (std::shared_ptr< const tesseract_common::ContactAllowedValidator > validator)=0
	Set the active function for determining if two links are allowed to be in collision. More...

virtual void	setDefaultCollisionMargin (double default_collision_margin)=0
	Set the default collision margin. More...

virtual	~ContinuousContactManager ()=default

Detailed Description

Definition at line 41 of file continuous_contact_manager.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_collision::ContinuousContactManager::ConstPtr = std::shared_ptr<const ContinuousContactManager>

Definition at line 47 of file continuous_contact_manager.h.

◆ ConstUPtr

using tesseract_collision::ContinuousContactManager::ConstUPtr = std::unique_ptr<const ContinuousContactManager>

Definition at line 49 of file continuous_contact_manager.h.

◆ Ptr

using tesseract_collision::ContinuousContactManager::Ptr = std::shared_ptr<ContinuousContactManager>

Definition at line 46 of file continuous_contact_manager.h.

◆ UPtr

using tesseract_collision::ContinuousContactManager::UPtr = std::unique_ptr<ContinuousContactManager>

Definition at line 48 of file continuous_contact_manager.h.

Constructor & Destructor Documentation

◆ ContinuousContactManager() [1/3]

tesseract_collision::ContinuousContactManager::ContinuousContactManager ( )

default

◆ ~ContinuousContactManager()

virtual tesseract_collision::ContinuousContactManager::~ContinuousContactManager ( )

virtualdefault

◆ ContinuousContactManager() [2/3]

tesseract_collision::ContinuousContactManager::ContinuousContactManager ( const ContinuousContactManager & )

delete

◆ ContinuousContactManager() [3/3]

tesseract_collision::ContinuousContactManager::ContinuousContactManager ( ContinuousContactManager && )

delete

Member Function Documentation

◆ addCollisionObject()

virtual bool tesseract_collision::ContinuousContactManager::addCollisionObject	(	const std::string &	name,
		const int &	mask_id,
		const CollisionShapesConst &	shapes,
		const tesseract_common::VectorIsometry3d &	shape_poses,
		bool	enabled = `true`
	)

pure virtual

Add a collision object to the checker.

All objects are added should initially be added as static objects. Use the setContactRequest method of defining which collision objects are moving.

Parameters

name	The name of the object, must be unique.
mask_id	User defined id which gets stored in the results structure.
shapes	A vector of shapes that make up the collision object.
shape_poses	A vector of poses for each shape, must be same length as shapes
shape_types	A vector of shape types for encode the collision object. If the vector is of length 1 it is used for all shapes.
collision_object_types	A int identifying a conversion mode for the object. (ex. convert meshes to convex_hulls)
enabled	Indicate if the object is enabled for collision checking.

Returns: true if successfully added, otherwise false.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ applyContactManagerConfig()

void tesseract_collision::ContinuousContactManager::applyContactManagerConfig ( const ContactManagerConfig & config )

virtual

Applies settings in the config.

Parameters

config Settings to be applies

Definition at line 32 of file continuous_contact_manager.cpp.

◆ clone()

virtual ContinuousContactManager::UPtr tesseract_collision::ContinuousContactManager::clone ( ) const

pure virtual

Clone the manager.

This is to be used for multi threaded application. A user should make a clone for each thread.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ contactTest()

virtual void tesseract_collision::ContinuousContactManager::contactTest	(	ContactResultMap &	collisions,
		const ContactRequest &	request
	)

pure virtual

Perform a contact test for all objects based.

Parameters

collisions	The Contact results data
type	The type of contact test

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ disableCollisionObject()

virtual bool tesseract_collision::ContinuousContactManager::disableCollisionObject ( const std::string & name )

pure virtual

Disable an object.

Parameters

name	The name of the object

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ enableCollisionObject()

virtual bool tesseract_collision::ContinuousContactManager::enableCollisionObject ( const std::string & name )

pure virtual

Enable an object.

Parameters

name	The name of the object

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getActiveCollisionObjects()

virtual const std::vector<std::string>& tesseract_collision::ContinuousContactManager::getActiveCollisionObjects ( ) const

pure virtual

Get which collision objects can move.

Returns: A list of collision object names

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getCollisionMarginData()

virtual const CollisionMarginData& tesseract_collision::ContinuousContactManager::getCollisionMarginData ( ) const

pure virtual

Get the contact distance threshold.

Returns: The contact distance

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getCollisionObjectGeometries()

virtual const CollisionShapesConst& tesseract_collision::ContinuousContactManager::getCollisionObjectGeometries ( const std::string & name ) const

pure virtual

Get a collision objects collision geometries.

Parameters

name	The collision objects name

Returns: A vector of collision geometries. The vector will be empty if the collision object is not found.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getCollisionObjectGeometriesTransforms()

virtual const tesseract_common::VectorIsometry3d& tesseract_collision::ContinuousContactManager::getCollisionObjectGeometriesTransforms ( const std::string & name ) const

pure virtual

Get a collision objects collision geometries transforms.

Parameters

name	The collision objects name

Returns: A vector of collision geometries transforms. The vector will be empty if the collision object is not found.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getCollisionObjects()

virtual const std::vector<std::string>& tesseract_collision::ContinuousContactManager::getCollisionObjects ( ) const

pure virtual

Get all collision objects.

Returns: A list of collision object names

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getContactAllowedValidator()

virtual std::shared_ptr<const tesseract_common::ContactAllowedValidator> tesseract_collision::ContinuousContactManager::getContactAllowedValidator ( ) const

pure virtual

Get the active function for determining if two links are allowed to be in collision.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ getName()

virtual std::string tesseract_collision::ContinuousContactManager::getName ( ) const

pure virtual

Get the name of the contact manager.

Returns: The name

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ hasCollisionObject()

virtual bool tesseract_collision::ContinuousContactManager::hasCollisionObject ( const std::string & name ) const

pure virtual

Find if a collision object already exists.

Parameters

name	The name of the collision object

Returns: true if it exists, otherwise false.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ incrementCollisionMargin()

virtual void tesseract_collision::ContinuousContactManager::incrementCollisionMargin ( double increment )

pure virtual

Increment the collision margin data by some value.

Parameters

increment The value to increment the collision margin value

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager, and tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager.

◆ isCollisionObjectEnabled()

virtual bool tesseract_collision::ContinuousContactManager::isCollisionObjectEnabled ( const std::string & name ) const

pure virtual

Check if collision object is enabled.

Parameters

name	The name of the object

Returns: True if enabled, otherwise false

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ operator=() [1/2]

ContinuousContactManager& tesseract_collision::ContinuousContactManager::operator= ( const ContinuousContactManager & )

delete

◆ operator=() [2/2]

ContinuousContactManager& tesseract_collision::ContinuousContactManager::operator= ( ContinuousContactManager && )

delete

◆ removeCollisionObject()

virtual bool tesseract_collision::ContinuousContactManager::removeCollisionObject ( const std::string & name )

pure virtual

Remove an object from the checker.

Parameters

name	The name of the object

Returns: true if successfully removed, otherwise false.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setActiveCollisionObjects()

virtual void tesseract_collision::ContinuousContactManager::setActiveCollisionObjects ( const std::vector< std::string > & names )

pure virtual

Set which collision objects can move.

Parameters

names A vector of collision object names

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionMarginData()

virtual void tesseract_collision::ContinuousContactManager::setCollisionMarginData ( CollisionMarginData collision_margin_data )

pure virtual

Set the contact distance threshold.

Parameters

collision_margin_data The contact distance

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionMarginPair()

virtual void tesseract_collision::ContinuousContactManager::setCollisionMarginPair	(	const std::string &	name1,
		const std::string &	name2,
		double	collision_margin
	)

pure virtual

Set the margin for a given contact pair.

The order of the object names does not matter, that is handled internal to the class.

Parameters

obj1	The first object name. Order doesn't matter
obj2	The Second object name. Order doesn't matter
collision_margin	contacts with distance < collision_margin are considered in collision

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionMarginPairData()

virtual void tesseract_collision::ContinuousContactManager::setCollisionMarginPairData	(	const CollisionMarginPairData &	pair_margin_data,
		CollisionMarginPairOverrideType	override_type = `CollisionMarginPairOverrideType::REPLACE`
	)

pure virtual

Set the pair contact distance thresholds for which collision should be considered on a per pair basis.

Parameters

pair_margin_data	Contains the pair collision margins that will replace the current settings
override_type	This determines how the provided CollisionMarginData is applied

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [1/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose
	)

pure virtual

Set a single static collision object's tansforms.

Parameters

name	The name of the object
pose	The tranformation in world

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [2/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose1,
		const Eigen::Isometry3d &	pose2
	)

pure virtual

Set a single cast(moving) collision object's tansforms.

This should only be used for moving objects. Use the base class methods for static objects.

Parameters

name	The name of the object
pose1	The start tranformation in world
pose2	The end tranformation in world

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [3/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform	(	const std::vector< std::string > &	names,
		const tesseract_common::VectorIsometry3d &	pose1,
		const tesseract_common::VectorIsometry3d &	pose2
	)

pure virtual

Set a series of cast(moving) collision object's tranforms.

This should only be used for moving objects. Use the base class methods for static objects.

Parameters

names	The name of the object
pose1	The start tranformations in world
pose2	The end tranformations in world

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [4/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform	(	const std::vector< std::string > &	names,
		const tesseract_common::VectorIsometry3d &	poses
	)

pure virtual

Set a series of static collision object's tranforms.

Parameters

names	The name of the object
poses	The tranformation in world

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [5/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform	(	const tesseract_common::TransformMap &	pose1,
		const tesseract_common::TransformMap &	pose2
	)

pure virtual

Set a series of cast(moving) collision object's tranforms.

This should only be used for moving objects. Use the base class methods for static objects.

Parameters

pose1	A start transform map <name, pose>
pose2	A end transform map <name, pose>

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setCollisionObjectsTransform() [6/6]

virtual void tesseract_collision::ContinuousContactManager::setCollisionObjectsTransform ( const tesseract_common::TransformMap & transforms )

pure virtual

Set a series of static collision object's tranforms.

Parameters

transforms A transform map <name, pose>

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setContactAllowedValidator()

virtual void tesseract_collision::ContinuousContactManager::setContactAllowedValidator ( std::shared_ptr< const tesseract_common::ContactAllowedValidator > validator )

pure virtual

Set the active function for determining if two links are allowed to be in collision.

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

◆ setDefaultCollisionMargin()

virtual void tesseract_collision::ContinuousContactManager::setDefaultCollisionMargin ( double default_collision_margin )

pure virtual

Set the default collision margin.

Parameters

default_collision_margin New default collision margin

Implemented in tesseract_collision::tesseract_collision_bullet::BulletCastBVHManager, and tesseract_collision::tesseract_collision_bullet::BulletCastSimpleManager.

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

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ContinuousContactManager() [1/3]

◆ ~ContinuousContactManager()

◆ ContinuousContactManager() [2/3]

◆ ContinuousContactManager() [3/3]

Member Function Documentation

◆ addCollisionObject()

◆ applyContactManagerConfig()

◆ clone()

◆ contactTest()

◆ disableCollisionObject()

◆ enableCollisionObject()

◆ getActiveCollisionObjects()

◆ getCollisionMarginData()

◆ getCollisionObjectGeometries()

◆ getCollisionObjectGeometriesTransforms()

◆ getCollisionObjects()

◆ getContactAllowedValidator()

◆ getName()

◆ hasCollisionObject()

◆ incrementCollisionMargin()

◆ isCollisionObjectEnabled()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeCollisionObject()

◆ setActiveCollisionObjects()

◆ setCollisionMarginData()

◆ setCollisionMarginPair()

◆ setCollisionMarginPairData()

◆ setCollisionObjectsTransform() [1/6]

◆ setCollisionObjectsTransform() [2/6]

◆ setCollisionObjectsTransform() [3/6]

◆ setCollisionObjectsTransform() [4/6]

◆ setCollisionObjectsTransform() [5/6]

◆ setCollisionObjectsTransform() [6/6]

◆ setContactAllowedValidator()

◆ setDefaultCollisionMargin()