A FCL implementation of the discrete contact manager. More...

#include <fcl_discrete_managers.h>

Inheritance diagram for tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager:

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

using	ConstUPtr = std::unique_ptr< const FCLDiscreteBVHManager >

using	Ptr = std::shared_ptr< FCLDiscreteBVHManager >

using	UPtr = std::unique_ptr< FCLDiscreteBVHManager >

Public Types inherited from tesseract_collision::DiscreteContactManager
using	ConstPtr = std::shared_ptr< const DiscreteContactManager >

using	ConstUPtr = std::unique_ptr< const DiscreteContactManager >

using	Ptr = std::shared_ptr< DiscreteContactManager >

using	UPtr = std::unique_ptr< DiscreteContactManager >

Public Member Functions
void	addCollisionObject (const COW::Ptr &cow)
	Add a fcl collision object to the manager. More...

bool	addCollisionObject (const std::string &name, const int &mask_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true) override final
	Add a object to the checker. More...

DiscreteContactManager::UPtr	clone () const override final
	Clone the manager. More...

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

bool	disableCollisionObject (const std::string &name) override final
	Disable an object. More...

bool	enableCollisionObject (const std::string &name) override final
	Enable an object. More...

	FCLDiscreteBVHManager (const FCLDiscreteBVHManager &)=delete

	FCLDiscreteBVHManager (FCLDiscreteBVHManager &&)=delete

	FCLDiscreteBVHManager (std::string name="FCLDiscreteBVHManager")

const std::vector< std::string > &	getActiveCollisionObjects () const override final
	Get which collision objects can move. More...

const CollisionMarginData &	getCollisionMarginData () const override final
	Get the contact distance threshold. More...

const CollisionShapesConst &	getCollisionObjectGeometries (const std::string &name) const override final
	Get a collision objects collision geometries. More...

const tesseract_common::VectorIsometry3d &	getCollisionObjectGeometriesTransforms (const std::string &name) const override final
	Get a collision objects collision geometries transforms. More...

const std::vector< std::string > &	getCollisionObjects () const override final
	Get all collision objects. More...

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

std::string	getName () const override final
	Get the name of the contact manager. More...

bool	hasCollisionObject (const std::string &name) const override final
	Find if a collision object already exists. More...

void	incrementCollisionMargin (double increment) override final
	Increment the collision margin data by some value. More...

bool	isCollisionObjectEnabled (const std::string &name) const override final
	Check if collision object is enabled. More...

FCLDiscreteBVHManager &	operator= (const FCLDiscreteBVHManager &)=delete

FCLDiscreteBVHManager &	operator= (FCLDiscreteBVHManager &&)=delete

bool	removeCollisionObject (const std::string &name) override final
	Remove an object from the checker. More...

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

void	setCollisionMarginData (CollisionMarginData collision_margin_data) override final
	Set the contact distance threshold. More...

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

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

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose) override final
	Set a single collision object's transforms. More...

void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &poses) override final
	Set a series of collision object's transforms. More...

void	setCollisionObjectsTransform (const tesseract_common::TransformMap &transforms) override final
	Set a series of collision object's transforms. More...

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

void	setDefaultCollisionMargin (double default_collision_margin) override final
	Set the default collision margin. More...

	~FCLDiscreteBVHManager () override=default

Public Member Functions inherited from tesseract_collision::DiscreteContactManager
virtual void	applyContactManagerConfig (const ContactManagerConfig &config)
	Applies settings in the config. More...

	DiscreteContactManager ()=default

	DiscreteContactManager (const DiscreteContactManager &)=delete

	DiscreteContactManager (DiscreteContactManager &&)=delete

DiscreteContactManager &	operator= (const DiscreteContactManager &)=delete

DiscreteContactManager &	operator= (DiscreteContactManager &&)=delete

virtual	~DiscreteContactManager ()=default

Private Member Functions
void	onCollisionMarginDataChanged ()
	This function will update internal data when margin data has changed. More...

Private Attributes
std::vector< std::string >	active_
	A list of the active collision objects. More...

CollisionMarginData	collision_margin_data_
	The contact distance threshold. More...

std::vector< std::string >	collision_objects_
	A list of the collision objects. More...

std::unique_ptr< fcl::BroadPhaseCollisionManagerd >	dynamic_manager_
	Broad-phase Collision Manager for active collision objects. More...

std::vector< CollisionObjectRawPtr >	dynamic_update_
	This is used to store dynamic collision objects to update. More...

std::size_t	fcl_co_count_ { 0 }
	The number fcl collision objects. More...

Link2COW	link2cow_
	A map of all (static and active) collision objects being managed. More...

std::string	name_

std::unique_ptr< fcl::BroadPhaseCollisionManagerd >	static_manager_
	Broad-phase Collision Manager for active collision objects. More...

std::vector< CollisionObjectRawPtr >	static_update_
	This is used to store static collision objects to update. More...

std::shared_ptr< const tesseract_common::ContactAllowedValidator >	validator_
	The is allowed collision function. More...

Detailed Description

A FCL implementation of the discrete contact manager.

Definition at line 51 of file fcl_discrete_managers.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 55 of file fcl_discrete_managers.h.

◆ ConstUPtr

using tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::ConstUPtr = std::unique_ptr<const FCLDiscreteBVHManager>

Definition at line 57 of file fcl_discrete_managers.h.

◆ Ptr

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

Definition at line 54 of file fcl_discrete_managers.h.

◆ UPtr

using tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::UPtr = std::unique_ptr<FCLDiscreteBVHManager>

Definition at line 56 of file fcl_discrete_managers.h.

Constructor & Destructor Documentation

◆ FCLDiscreteBVHManager() [1/3]

tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::FCLDiscreteBVHManager ( std::string name = "FCLDiscreteBVHManager" )

Definition at line 50 of file fcl_discrete_managers.cpp.

◆ ~FCLDiscreteBVHManager()

tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::~FCLDiscreteBVHManager ( )

overridedefault

◆ FCLDiscreteBVHManager() [2/3]

tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::FCLDiscreteBVHManager ( const FCLDiscreteBVHManager & )

delete

◆ FCLDiscreteBVHManager() [3/3]

tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::FCLDiscreteBVHManager ( FCLDiscreteBVHManager && )

delete

Member Function Documentation

◆ addCollisionObject() [1/2]

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::addCollisionObject ( const COW::Ptr & cow )

Add a fcl collision object to the manager.

Parameters

cow	The tesseract fcl collision object

Definition at line 362 of file fcl_discrete_managers.cpp.

◆ addCollisionObject() [2/2]

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

finaloverridevirtual

Add a object to the checker.

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

Returns: true if successfully added, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 73 of file fcl_discrete_managers.cpp.

◆ clone()

DiscreteContactManager::UPtr tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::clone ( ) const

finaloverridevirtual

Clone the manager.

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

Implements tesseract_collision::DiscreteContactManager.

Definition at line 59 of file fcl_discrete_managers.cpp.

◆ contactTest()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::contactTest	(	ContactResultMap &	collisions,
		const ContactRequest &	request
	)

finaloverridevirtual

Perform a contact test for all objects based.

Parameters

collisions	The contact results data
request	The contact request data

Implements tesseract_collision::DiscreteContactManager.

Definition at line 337 of file fcl_discrete_managers.cpp.

◆ disableCollisionObject()

bool tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::disableCollisionObject ( const std::string & name )

finaloverridevirtual

Disable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

Definition at line 157 of file fcl_discrete_managers.cpp.

◆ enableCollisionObject()

bool tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::enableCollisionObject ( const std::string & name )

finaloverridevirtual

Enable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

Definition at line 146 of file fcl_discrete_managers.cpp.

◆ getActiveCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getActiveCollisionObjects ( ) const

finaloverridevirtual

Get which collision objects can move.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 289 of file fcl_discrete_managers.cpp.

◆ getCollisionMarginData()

const CollisionMarginData & tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getCollisionMarginData ( ) const

finaloverridevirtual

Get the contact distance threshold.

Returns: The contact distance

Implements tesseract_collision::DiscreteContactManager.

Definition at line 297 of file fcl_discrete_managers.cpp.

◆ getCollisionObjectGeometries()

const CollisionShapesConst & tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getCollisionObjectGeometries ( const std::string & name ) const

finaloverridevirtual

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.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 92 of file fcl_discrete_managers.cpp.

◆ getCollisionObjectGeometriesTransforms()

const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getCollisionObjectGeometriesTransforms ( const std::string & name ) const

finaloverridevirtual

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.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 100 of file fcl_discrete_managers.cpp.

◆ getCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getCollisionObjects ( ) const

finaloverridevirtual

Get all collision objects.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 275 of file fcl_discrete_managers.cpp.

◆ getContactAllowedValidator()

std::shared_ptr< const tesseract_common::ContactAllowedValidator > tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getContactAllowedValidator ( ) const

finaloverridevirtual

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

Implements tesseract_collision::DiscreteContactManager.

Definition at line 332 of file fcl_discrete_managers.cpp.

◆ getName()

std::string tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::getName ( ) const

finaloverridevirtual

Get the name of the contact manager.

Returns: The name

Implements tesseract_collision::DiscreteContactManager.

Definition at line 57 of file fcl_discrete_managers.cpp.

◆ hasCollisionObject()

bool tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::hasCollisionObject ( const std::string & name ) const

finaloverridevirtual

Find if a collision object already exists.

Parameters

name	The name of the collision object

Returns: true if it exists, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 107 of file fcl_discrete_managers.cpp.

◆ incrementCollisionMargin()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::incrementCollisionMargin ( double increment )

finaloverridevirtual

Increment the collision margin data by some value.

Parameters

increment The value to increment the collision margin value

Implements tesseract_collision::DiscreteContactManager.

Definition at line 320 of file fcl_discrete_managers.cpp.

◆ isCollisionObjectEnabled()

bool tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::isCollisionObjectEnabled ( const std::string & name ) const

finaloverridevirtual

Check if collision object is enabled.

Parameters

name	The name of the object

Returns: True if enabled, otherwise false

Implements tesseract_collision::DiscreteContactManager.

Definition at line 168 of file fcl_discrete_managers.cpp.

◆ onCollisionMarginDataChanged()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::onCollisionMarginDataChanged ( )

private

This function will update internal data when margin data has changed.

Definition at line 393 of file fcl_discrete_managers.cpp.

◆ operator=() [1/2]

FCLDiscreteBVHManager& tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::operator= ( const FCLDiscreteBVHManager & )

delete

◆ operator=() [2/2]

FCLDiscreteBVHManager& tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::operator= ( FCLDiscreteBVHManager && )

delete

◆ removeCollisionObject()

bool tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::removeCollisionObject ( const std::string & name )

finaloverridevirtual

Remove an object from the checker.

Parameters

name	The name of the object

Returns: true if successfully removed, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 112 of file fcl_discrete_managers.cpp.

◆ setActiveCollisionObjects()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setActiveCollisionObjects ( const std::vector< std::string > & names )

finaloverridevirtual

Set which collision objects can move.

Parameters

names A vector of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 277 of file fcl_discrete_managers.cpp.

◆ setCollisionMarginData()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setCollisionMarginData ( CollisionMarginData collision_margin_data )

finaloverridevirtual

Set the contact distance threshold.

Parameters

collision_margin_data The contact distance

Implements tesseract_collision::DiscreteContactManager.

Definition at line 291 of file fcl_discrete_managers.cpp.

◆ setCollisionMarginPair()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setCollisionMarginPair	(	const std::string &	name1,
		const std::string &	name2,
		double	collision_margin
	)

finaloverridevirtual

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

Implements tesseract_collision::DiscreteContactManager.

Definition at line 312 of file fcl_discrete_managers.cpp.

◆ setCollisionMarginPairData()

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

finaloverridevirtual

Set the 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

Implements tesseract_collision::DiscreteContactManager.

Definition at line 299 of file fcl_discrete_managers.cpp.

◆ setCollisionObjectsTransform() [1/3]

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose
	)

finaloverridevirtual

Set a single collision object's transforms.

Parameters

name	The name of the object
pose	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

Definition at line 177 of file fcl_discrete_managers.cpp.

◆ setCollisionObjectsTransform() [2/3]

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

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

names	The name of the object
poses	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

Definition at line 201 of file fcl_discrete_managers.cpp.

◆ setCollisionObjectsTransform() [3/3]

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setCollisionObjectsTransform ( const tesseract_common::TransformMap & transforms )

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

transforms A transform map <name, pose>

Implements tesseract_collision::DiscreteContactManager.

Definition at line 239 of file fcl_discrete_managers.cpp.

◆ setContactAllowedValidator()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setContactAllowedValidator ( std::shared_ptr< const tesseract_common::ContactAllowedValidator > validator )

finaloverridevirtual

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

Implements tesseract_collision::DiscreteContactManager.

Definition at line 326 of file fcl_discrete_managers.cpp.

◆ setDefaultCollisionMargin()

void tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::setDefaultCollisionMargin ( double default_collision_margin )

finaloverridevirtual

Set the default collision margin.

Parameters

default_collision_margin New default collision margin

Implements tesseract_collision::DiscreteContactManager.

Definition at line 306 of file fcl_discrete_managers.cpp.

Member Data Documentation

◆ active_

std::vector<std::string> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::active_

private

A list of the active collision objects.

Definition at line 143 of file fcl_discrete_managers.h.

◆ collision_margin_data_

CollisionMarginData tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::collision_margin_data_

private

The contact distance threshold.

Definition at line 145 of file fcl_discrete_managers.h.

◆ collision_objects_

std::vector<std::string> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::collision_objects_

private

A list of the collision objects.

Definition at line 144 of file fcl_discrete_managers.h.

◆ dynamic_manager_

std::unique_ptr<fcl::BroadPhaseCollisionManagerd> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::dynamic_manager_

private

Broad-phase Collision Manager for active collision objects.

Definition at line 140 of file fcl_discrete_managers.h.

◆ dynamic_update_

std::vector<CollisionObjectRawPtr> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::dynamic_update_

private

This is used to store dynamic collision objects to update.

Definition at line 154 of file fcl_discrete_managers.h.

◆ fcl_co_count_

std::size_t tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::fcl_co_count_ { 0 }

private

The number fcl collision objects.

Definition at line 148 of file fcl_discrete_managers.h.

◆ link2cow_

Link2COW tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::link2cow_

private

A map of all (static and active) collision objects being managed.

Definition at line 142 of file fcl_discrete_managers.h.

◆ name_

std::string tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::name_

private

Definition at line 134 of file fcl_discrete_managers.h.

◆ static_manager_

std::unique_ptr<fcl::BroadPhaseCollisionManagerd> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::static_manager_

private

Broad-phase Collision Manager for active collision objects.

Definition at line 137 of file fcl_discrete_managers.h.

◆ static_update_

std::vector<CollisionObjectRawPtr> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::static_update_

private

This is used to store static collision objects to update.

Definition at line 151 of file fcl_discrete_managers.h.

◆ validator_

std::shared_ptr<const tesseract_common::ContactAllowedValidator> tesseract_collision::tesseract_collision_fcl::FCLDiscreteBVHManager::validator_

private

The is allowed collision function.

Definition at line 146 of file fcl_discrete_managers.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ FCLDiscreteBVHManager() [1/3]

◆ ~FCLDiscreteBVHManager()

◆ FCLDiscreteBVHManager() [2/3]

◆ FCLDiscreteBVHManager() [3/3]

Member Function Documentation

◆ addCollisionObject() [1/2]

◆ addCollisionObject() [2/2]

◆ clone()

◆ contactTest()

◆ disableCollisionObject()

◆ enableCollisionObject()

◆ getActiveCollisionObjects()

◆ getCollisionMarginData()

◆ getCollisionObjectGeometries()

◆ getCollisionObjectGeometriesTransforms()

◆ getCollisionObjects()

◆ getContactAllowedValidator()

◆ getName()

◆ hasCollisionObject()

◆ incrementCollisionMargin()

◆ isCollisionObjectEnabled()

◆ onCollisionMarginDataChanged()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeCollisionObject()

◆ setActiveCollisionObjects()

◆ setCollisionMarginData()

◆ setCollisionMarginPair()

◆ setCollisionMarginPairData()

◆ setCollisionObjectsTransform() [1/3]

◆ setCollisionObjectsTransform() [2/3]

◆ setCollisionObjectsTransform() [3/3]

◆ setContactAllowedValidator()

◆ setDefaultCollisionMargin()

Member Data Documentation

◆ active_

◆ collision_margin_data_

◆ collision_objects_

◆ dynamic_manager_

◆ dynamic_update_

◆ fcl_co_count_

◆ link2cow_

◆ name_

◆ static_manager_

◆ static_update_

◆ validator_