This is a Tesseract link collision object wrapper which add items specific to tesseract. It is a wrapper around a tesseract link which may contain several collision objects. More...

#include <fcl_utils.h>

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

using	Ptr = std::shared_ptr< CollisionObjectWrapper >

Public Member Functions
std::shared_ptr< CollisionObjectWrapper >	clone () const

	CollisionObjectWrapper ()=default

	CollisionObjectWrapper (std::string name, const int &type_id, CollisionShapesConst shapes, tesseract_common::VectorIsometry3d shape_poses)

const CollisionShapesConst &	getCollisionGeometries () const

const tesseract_common::VectorIsometry3d &	getCollisionGeometriesTransforms () const

std::vector< CollisionObjectPtr > &	getCollisionObjects ()

const std::vector< CollisionObjectPtr > &	getCollisionObjects () const

std::vector< CollisionObjectRawPtr > &	getCollisionObjectsRaw ()

const std::vector< CollisionObjectRawPtr > &	getCollisionObjectsRaw () const

const Eigen::Isometry3d &	getCollisionObjectsTransform () const

double	getContactDistanceThreshold () const

const std::string &	getName () const

const int &	getTypeID () const

bool	sameObject (const CollisionObjectWrapper &other) const
	Check if two objects point to the same source object. More...

void	setCollisionObjectsTransform (const Eigen::Isometry3d &pose)

void	setContactDistanceThreshold (double contact_distance)

Static Public Member Functions
static int	getShapeIndex (const fcl::CollisionObjectd *co)
	Given fcl collision shape get the index to the links collision shape. More...

Public Attributes
short int	m_collisionFilterGroup { CollisionFilterGroups::KinematicFilter }

short int	m_collisionFilterMask { CollisionFilterGroups::StaticFilter \| CollisionFilterGroups::KinematicFilter }

bool	m_enabled { true }

Protected Attributes
std::vector< CollisionGeometryPtr >	collision_geometries_

std::vector< CollisionObjectPtr >	collision_objects_

std::vector< CollisionObjectRawPtr >	collision_objects_raw_
	The raw pointer is also stored because FCL accepts vectors for batch process. Note: They are updating the API to Shared Pointers but the broadphase has not been updated yet. More...

double	contact_distance_ { 0 }
	The contact distance threshold. More...

std::string	name_

tesseract_common::VectorIsometry3d	shape_poses_

CollisionShapesConst	shapes_

int	type_id_ { -1 }

Eigen::Isometry3d	world_pose_ { Eigen::Isometry3d::Identity() }
	Collision Object World Transformation. More...

Detailed Description

This is a Tesseract link collision object wrapper which add items specific to tesseract. It is a wrapper around a tesseract link which may contain several collision objects.

Definition at line 77 of file fcl_utils.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::ConstPtr = std::shared_ptr<const CollisionObjectWrapper>

Definition at line 83 of file fcl_utils.h.

◆ Ptr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::Ptr = std::shared_ptr<CollisionObjectWrapper>

Definition at line 82 of file fcl_utils.h.

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/2]

tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::CollisionObjectWrapper ( )

default

◆ CollisionObjectWrapper() [2/2]

tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::CollisionObjectWrapper	(	std::string	name,
		const int &	type_id,
		CollisionShapesConst	shapes,
		tesseract_common::VectorIsometry3d	shape_poses
	)

Definition at line 350 of file fcl_utils.cpp.

Member Function Documentation

◆ clone()

std::shared_ptr<CollisionObjectWrapper> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::clone ( ) const

inline

Definition at line 136 of file fcl_utils.h.

◆ getCollisionGeometries()

const CollisionShapesConst& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionGeometries ( ) const

inline

Definition at line 109 of file fcl_utils.h.

◆ getCollisionGeometriesTransforms()

const tesseract_common::VectorIsometry3d& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionGeometriesTransforms ( ) const

inline

Definition at line 111 of file fcl_utils.h.

◆ getCollisionObjects() [1/2]

std::vector<CollisionObjectPtr>& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjects ( )

inline

Definition at line 133 of file fcl_utils.h.

◆ getCollisionObjects() [2/2]

const std::vector<CollisionObjectPtr>& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjects ( ) const

inline

Definition at line 132 of file fcl_utils.h.

◆ getCollisionObjectsRaw() [1/2]

std::vector<CollisionObjectRawPtr>& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsRaw ( )

inline

Definition at line 135 of file fcl_utils.h.

◆ getCollisionObjectsRaw() [2/2]

const std::vector<CollisionObjectRawPtr>& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsRaw ( ) const

inline

Definition at line 134 of file fcl_utils.h.

◆ getCollisionObjectsTransform()

const Eigen::Isometry3d& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsTransform ( ) const

inline

Definition at line 131 of file fcl_utils.h.

◆ getContactDistanceThreshold()

double tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getContactDistanceThreshold ( ) const

inline

Definition at line 130 of file fcl_utils.h.

◆ getName()

const std::string& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getName ( ) const

inline

Definition at line 95 of file fcl_utils.h.

◆ getShapeIndex()

int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getShapeIndex ( const fcl::CollisionObjectd * co )

static

Given fcl collision shape get the index to the links collision shape.

Parameters

co	fcl collision shape

Returns: links collision shape index

Definition at line 406 of file fcl_utils.cpp.

◆ getTypeID()

const int& tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getTypeID ( ) const

inline

Definition at line 96 of file fcl_utils.h.

◆ sameObject()

bool tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::sameObject ( const CollisionObjectWrapper & other ) const

inline

Check if two objects point to the same source object.

Definition at line 98 of file fcl_utils.h.

◆ setCollisionObjectsTransform()

void tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::setCollisionObjectsTransform ( const Eigen::Isometry3d & pose )

inline

Definition at line 113 of file fcl_utils.h.

◆ setContactDistanceThreshold()

void tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::setContactDistanceThreshold ( double contact_distance )

inline

Definition at line 123 of file fcl_utils.h.

Member Data Documentation

◆ collision_geometries_

std::vector<CollisionGeometryPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_geometries_

protected

Definition at line 178 of file fcl_utils.h.

◆ collision_objects_

std::vector<CollisionObjectPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_objects_

protected

Definition at line 179 of file fcl_utils.h.

◆ collision_objects_raw_

std::vector<CollisionObjectRawPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_objects_raw_

protected

The raw pointer is also stored because FCL accepts vectors for batch process. Note: They are updating the API to Shared Pointers but the broadphase has not been updated yet.

Definition at line 184 of file fcl_utils.h.

◆ contact_distance_

double tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::contact_distance_ { 0 }

protected

The contact distance threshold.

Definition at line 186 of file fcl_utils.h.

◆ m_collisionFilterGroup

short int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_collisionFilterGroup { CollisionFilterGroups::KinematicFilter }

Definition at line 91 of file fcl_utils.h.

◆ m_collisionFilterMask

short int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_collisionFilterMask { CollisionFilterGroups::StaticFilter | CollisionFilterGroups::KinematicFilter }

Definition at line 92 of file fcl_utils.h.

◆ m_enabled

bool tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_enabled { true }

Definition at line 93 of file fcl_utils.h.

◆ name_

std::string tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::name_

protected

Definition at line 173 of file fcl_utils.h.

◆ shape_poses_

tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::shape_poses_

protected

Definition at line 177 of file fcl_utils.h.

◆ shapes_

CollisionShapesConst tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::shapes_

protected

Definition at line 176 of file fcl_utils.h.

◆ type_id_

int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::type_id_ { -1 }

protected

Definition at line 174 of file fcl_utils.h.

◆ world_pose_

Eigen::Isometry3d tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::world_pose_ { Eigen::Isometry3d::Identity() }

protected

Collision Object World Transformation.

Definition at line 175 of file fcl_utils.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/2]

◆ CollisionObjectWrapper() [2/2]

Member Function Documentation

◆ clone()

◆ getCollisionGeometries()

◆ getCollisionGeometriesTransforms()

◆ getCollisionObjects() [1/2]

◆ getCollisionObjects() [2/2]

◆ getCollisionObjectsRaw() [1/2]

◆ getCollisionObjectsRaw() [2/2]

◆ getCollisionObjectsTransform()

◆ getContactDistanceThreshold()

◆ getName()

◆ getShapeIndex()

◆ getTypeID()

◆ sameObject()

◆ setCollisionObjectsTransform()

◆ setContactDistanceThreshold()

Member Data Documentation

◆ collision_geometries_

◆ collision_objects_

◆ collision_objects_raw_

◆ contact_distance_

◆ m_collisionFilterGroup

◆ m_collisionFilterMask

◆ m_enabled

◆ name_

◆ shape_poses_

◆ shapes_

◆ type_id_

◆ world_pose_