Namespaces
	tesseract_collision_bullet

	tesseract_collision_fcl

	test_suite

Classes
struct	CollisionCheckConfig
	This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure. More...

struct	ContactManagerConfig
	Contains parameters used to configure a contact manager before a series of contact checks. More...

class	ContactManagersPluginFactory

struct	ContactRequest
	The ContactRequest struct. More...

struct	ContactResult

class	ContactResultMap
	This structure hold contact results for link pairs. More...

class	ContactResultValidator
	Should return true if contact results are valid, otherwise false. More...

struct	ContactTestData
	This data is intended only to be used internal to the collision checkers as a container and should not be externally used by other libraries or packages. More...

struct	ContactTrajectoryResults
	The ContactTrajectoryResults struct is the top level struct for tracking contacts in a trajectory. This struct stores all the steps and therefore all the contacts in a trajectory. It also exposes a method for returning a contact summary table as a string for printing to a terminal. More...

struct	ContactTrajectoryStepResults
	The ContactTrajectoryStepResults struct is the second level struct for tracking contacts in a trajectory. This struct stores all the substep contact information as well as the start and end state of the given step in the trajectory. More...

struct	ContactTrajectorySubstepResults
	The ContactTrajectorySubstepResults struct is the lowest level struct for tracking contacts in a trajectory. This struct is used for substeps between waypoints in a trajectory when a longest valid segment is used, storing the relevant states of the substep. More...

class	ContinuousContactManager

class	ContinuousContactManagerFactory
	Define a continuous contact manager plugin which the factory can create an instance. More...

class	ConvexDecomposition

class	ConvexDecompositionHACD

class	ConvexDecompositionVHACD

class	DiscreteContactManager

class	DiscreteContactManagerFactory
	Define a discrete contact manager plugin which the factory can create an instance. More...

struct	HACDParameters

class	ProgressCallback

struct	VHACDParameters

Typedefs
using	CollisionMarginData = tesseract_common::CollisionMarginData

using	CollisionMarginPairData = tesseract_common::CollisionMarginPairData

using	CollisionMarginPairOverrideType = tesseract_common::CollisionMarginPairOverrideType

using	CollisionShapeConstPtr = std::shared_ptr< const tesseract_geometry::Geometry >

using	CollisionShapePtr = std::shared_ptr< tesseract_geometry::Geometry >

using	CollisionShapesConst = std::vector< CollisionShapeConstPtr >

using	ContactResultAnyPoly = tesseract_common::AnyWrapper< ContactResult >

using	ContactResultMapAnyPoly = tesseract_common::AnyWrapper< ContactResultMap >

using	ContactResultMapVectorAnyPoly = tesseract_common::AnyWrapper< std::vector< tesseract_collision::ContactResultMap > >

using	ContactResultVector = tesseract_common::AlignedVector< ContactResult >

using	ObjectPairKey = std::pair< std::string, std::string >

Enumerations
enum	ACMOverrideType : std::uint8_t { ACMOverrideType::NONE, ACMOverrideType::ASSIGN, ACMOverrideType::AND, ACMOverrideType::OR }
	Identifies how the provided AllowedCollisionMatrix should be applied relative to the isAllowedFn in the contact manager. More...

enum	CollisionCheckProgramType : std::uint8_t { CollisionCheckProgramType::ALL, CollisionCheckProgramType::ALL_EXCEPT_START, CollisionCheckProgramType::ALL_EXCEPT_END, CollisionCheckProgramType::START_ONLY, CollisionCheckProgramType::END_ONLY, CollisionCheckProgramType::INTERMEDIATE_ONLY }
	The mode used to check program. More...

enum	CollisionEvaluatorType : std::uint8_t { CollisionEvaluatorType::NONE, CollisionEvaluatorType::DISCRETE, CollisionEvaluatorType::LVS_DISCRETE, CollisionEvaluatorType::CONTINUOUS, CollisionEvaluatorType::LVS_CONTINUOUS }
	High level descriptor used in planners and utilities to specify what kind of collision check is desired. More...

enum	ContactTestType : std::uint8_t { ContactTestType::FIRST = 0, ContactTestType::CLOSEST = 1, ContactTestType::ALL = 2, ContactTestType::LIMITED = 3 }

enum	ContinuousCollisionType : std::uint8_t { ContinuousCollisionType::CCType_None, ContinuousCollisionType::CCType_Time0, ContinuousCollisionType::CCType_Time1, ContinuousCollisionType::CCType_Between }

Functions
template<typename ManagerType >
void	applyContactAllowedValidatorOverride (ManagerType &manager, const tesseract_common::AllowedCollisionMatrix &acm, ACMOverrideType type)
	Applies ACM to contact manager using override type. More...

template<typename ManagerType >
void	applyModifyObjectEnabled (ManagerType &manager, const std::unordered_map< std::string, bool > &modify_object_enabled)
	Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable) More...

tesseract_common::ContactAllowedValidator::ConstPtr	combineContactAllowedValidators (tesseract_common::ContactAllowedValidator::ConstPtr original, tesseract_common::ContactAllowedValidator::ConstPtr override, ACMOverrideType type=ACMOverrideType::OR)
	Combines two ContactAllowedValidator using the override type. More...

int	createConvexHull (tesseract_common::VectorVector3d &vertices, Eigen::VectorXi &faces, const tesseract_common::VectorVector3d &input, double shrink=-1, double shrinkClamp=-1)
	Create a convex hull from vertices using Bullet Convex Hull Computer. More...

std::vector< ObjectPairKey >	getCollisionObjectPairs (const std::vector< std::string > &active_links, const std::vector< std::string > &static_links, const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &validator=nullptr)
	Get a vector of possible collision object pairs. More...

bool	isContactAllowed (const std::string &name1, const std::string &name2, const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &validator, bool verbose=false)
	Determine if contact is allowed between two objects. More...

bool	isLinkActive (const std::vector< std::string > &active, const std::string &name)
	This will check if a link is active provided a list. If the list is empty the link is considered active. More...

int	loadSimplePlyFile (const std::string &path, tesseract_common::VectorVector3d &vertices, Eigen::VectorXi &faces, bool triangles_only=false)
	Loads a simple ply file given a path. More...

tesseract_geometry::ConvexMesh::Ptr	makeConvexMesh (const tesseract_geometry::Mesh &mesh)

ContactResult *	processResult (ContactTestData &cdata, ContactResult &contact, const std::pair< std::string, std::string > &key, bool found)
	processResult Processes the ContactResult based on the information in the ContactTestData More...

void	scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &center, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...

void	scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...

bool	writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...

bool	writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const std::vector< Eigen::Vector3i > &vectices_color, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...

Variables
static const std::vector< std::string >	ContactTestTypeStrings

Typedef Documentation

◆ CollisionMarginData

using tesseract_collision::CollisionMarginData = typedef tesseract_common::CollisionMarginData

Definition at line 52 of file types.h.

◆ CollisionMarginPairData

using tesseract_collision::CollisionMarginPairData = typedef tesseract_common::CollisionMarginPairData

Definition at line 53 of file types.h.

◆ CollisionMarginPairOverrideType

using tesseract_collision::CollisionMarginPairOverrideType = typedef tesseract_common::CollisionMarginPairOverrideType

Definition at line 54 of file types.h.

◆ CollisionShapeConstPtr

using tesseract_collision::CollisionShapeConstPtr = typedef std::shared_ptr<const tesseract_geometry::Geometry>

Definition at line 49 of file types.h.

◆ CollisionShapePtr

using tesseract_collision::CollisionShapePtr = typedef std::shared_ptr<tesseract_geometry::Geometry>

Definition at line 50 of file types.h.

◆ CollisionShapesConst

using tesseract_collision::CollisionShapesConst = typedef std::vector<CollisionShapeConstPtr>

Definition at line 51 of file types.h.

◆ ContactResultAnyPoly

using tesseract_collision::ContactResultAnyPoly = typedef tesseract_common::AnyWrapper<ContactResult>

Definition at line 596 of file types.h.

◆ ContactResultMapAnyPoly

using tesseract_collision::ContactResultMapAnyPoly = typedef tesseract_common::AnyWrapper<ContactResultMap>

Definition at line 597 of file types.h.

◆ ContactResultMapVectorAnyPoly

using tesseract_collision::ContactResultMapVectorAnyPoly = typedef tesseract_common::AnyWrapper<std::vector<tesseract_collision::ContactResultMap> >

Definition at line 598 of file types.h.

◆ ContactResultVector

using tesseract_collision::ContactResultVector = typedef tesseract_common::AlignedVector<ContactResult>

Definition at line 136 of file types.h.

◆ ObjectPairKey

using tesseract_collision::ObjectPairKey = typedef std::pair<std::string, std::string>

Definition at line 40 of file common.h.

Enumeration Type Documentation

◆ ACMOverrideType

enum tesseract_collision::ACMOverrideType : std::uint8_t

strong

Identifies how the provided AllowedCollisionMatrix should be applied relative to the isAllowedFn in the contact manager.

Enumerator
NONE	Do not apply AllowedCollisionMatrix.
ASSIGN	Replace the current ContactAllowedValidator with one generated from the ACM provided.
AND	New ContactAllowedValidator combines the contact manager fn and the ACM generated fn with and AND.
OR	New ContactAllowedValidator combines the contact manager fn and the ACM generated fn with and OR.

Definition at line 399 of file types.h.

◆ CollisionCheckProgramType

enum tesseract_collision::CollisionCheckProgramType : std::uint8_t

strong

The mode used to check program.

Enumerator
ALL	Check all states.
ALL_EXCEPT_START	Check all states except the start state.
ALL_EXCEPT_END	Check all states except the end state.
START_ONLY	Check only the start state.
END_ONLY	Check only the end state.
INTERMEDIATE_ONLY	Check only the intermediate states.

Definition at line 381 of file types.h.

◆ CollisionEvaluatorType

enum tesseract_collision::CollisionEvaluatorType : std::uint8_t

strong

High level descriptor used in planners and utilities to specify what kind of collision check is desired.

DISCRETE - Discrete contact manager using only steps specified LVS_DISCRETE - Discrete contact manager interpolating using longest valid segment CONTINUOUS - Continuous contact manager using only steps specified LVS_CONTINUOUS - Continuous contact manager interpolating using longest valid segment

Enumerator
NONE	None.
DISCRETE	Discrete contact manager using only steps specified.
LVS_DISCRETE	Discrete contact manager interpolating using longest valid segment.
CONTINUOUS	Continuous contact manager using only steps specified.
LVS_CONTINUOUS	Continuous contact manager interpolating using longest valid segment.

Definition at line 366 of file types.h.

◆ ContactTestType

enum tesseract_collision::ContactTestType : std::uint8_t

strong

Enumerator
FIRST	Return at first contact for any pair of objects
CLOSEST	Return the global minimum for a pair of objects
ALL	Return all contacts for a pair of objects
LIMITED	Return limited set of contacts for a pair of objects

Definition at line 66 of file types.h.

◆ ContinuousCollisionType

enum tesseract_collision::ContinuousCollisionType : std::uint8_t

strong

Enumerator
CCType_None
CCType_Time0
CCType_Time1
CCType_Between

Definition at line 58 of file types.h.

Function Documentation

◆ applyContactAllowedValidatorOverride()

template<typename ManagerType >

void tesseract_collision::applyContactAllowedValidatorOverride	(	ManagerType &	manager,
		const tesseract_common::AllowedCollisionMatrix &	acm,
		ACMOverrideType	type
	)

inline

Applies ACM to contact manager using override type.

Parameters

manager	Manager whose ContactAllowedValidator will be overwritten
acm	ACM used to create ContactAllowedValidator
type	Determines how the two ContactAllowedValidator are combined

Definition at line 53 of file utils.h.

◆ applyModifyObjectEnabled()

template<typename ManagerType >

void tesseract_collision::applyModifyObjectEnabled	(	ManagerType &	manager,
		const std::unordered_map< std::string, bool > &	modify_object_enabled
	)

inline

Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable)

Parameters

manager	Manager that will be modified
modify_object_enabled	Map of [key]:value = [object name]:disable or enable

Definition at line 69 of file utils.h.

◆ combineContactAllowedValidators()

tesseract_common::ContactAllowedValidator::ConstPtr tesseract_collision::combineContactAllowedValidators	(	tesseract_common::ContactAllowedValidator::ConstPtr	original,
		tesseract_common::ContactAllowedValidator::ConstPtr	override,
		ACMOverrideType	type = `ACMOverrideType::OR`
	)

Combines two ContactAllowedValidator using the override type.

Parameters

original	Original ContactAllowedValidator. This will be returned if ACMOverrideType is None
override	Overriding ContactAllowedValidator. This will be returned if ACMOverrideType is ASSIGN
type	Override type used to combine the ContactAllowedValidator

Returns: One ContactAllowedValidator that combines the two

Definition at line 31 of file utils.cpp.

◆ createConvexHull()

int tesseract_collision::createConvexHull	(	tesseract_common::VectorVector3d &	vertices,
		Eigen::VectorXi &	faces,
		const tesseract_common::VectorVector3d &	input,
		double	shrink = `-1`,
		double	shrinkClamp = `-1`
	)

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters

(Output)	vertices A vector of vertices
(Output)	faces The first values indicates the number of vertices that define the face followed by the vertices index
(input)	input A vector of point to create a convex hull from
(input)	shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)	shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.

Returns: The number of faces. If less than zero an error occurred when trying to create the convex hull

Definition at line 37 of file convex_hull_utils.cpp.

◆ getCollisionObjectPairs()

std::vector< ObjectPairKey > tesseract_collision::getCollisionObjectPairs	(	const std::vector< std::string > &	active_links,
		const std::vector< std::string > &	static_links,
		const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &	validator = `nullptr`
	)

Get a vector of possible collision object pairs.

Todo:: Should this also filter out links without geometry?

Parameters

active_links	The active link names
static_links	The static link names
validator	The is contact allowed validator

Returns: A vector of collision object pairs

Definition at line 45 of file common.cpp.

◆ isContactAllowed()

bool tesseract_collision::isContactAllowed	(	const std::string &	name1,
		const std::string &	name2,
		const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &	validator,
		bool	verbose = `false`
	)

Determine if contact is allowed between two objects.

Parameters

name1	The name of the first object
name2	The name of the second object
validator	The contact allowed validator
verbose	If true print debug information

Returns: True if contact is allowed between the two object, otherwise false.

Definition at line 85 of file common.cpp.

◆ isLinkActive()

bool tesseract_collision::isLinkActive	(	const std::vector< std::string > &	active,
		const std::string &	name
	)

This will check if a link is active provided a list. If the list is empty the link is considered active.

Parameters

active	List of active link names
name	The name of link to check if it is active.

Definition at line 80 of file common.cpp.

◆ loadSimplePlyFile()

int tesseract_collision::loadSimplePlyFile	(	const std::string &	path,
		tesseract_common::VectorVector3d &	vertices,
		Eigen::VectorXi &	faces,
		bool	triangles_only = `false`
	)

Loads a simple ply file given a path.

Parameters

path	The file path
vertices	A vector of vertices
faces	The first values indicates the number of vertices that define the face followed by the vertice index
triangles_only	Convert to only include triangles

Returns: Number of faces, If returned 0 it failed to load.

Definition at line 289 of file common.cpp.

◆ makeConvexMesh()

tesseract_geometry::ConvexMesh::Ptr tesseract_collision::makeConvexMesh ( const tesseract_geometry::Mesh & mesh )

Definition at line 113 of file convex_hull_utils.cpp.

◆ processResult()

ContactResult * tesseract_collision::processResult	(	ContactTestData &	cdata,
		ContactResult &	contact,
		const std::pair< std::string, std::string > &	key,
		bool	found
	)

processResult Processes the ContactResult based on the information in the ContactTestData

Parameters

cdata	Information used to process the results
contact	Contacts from the collision checkers that will be processed
key	Link pair used as a key to look up pair specific settings
found	Specifies whether or not a collision has already been found

Returns: Pointer to the ContactResult.

Definition at line 112 of file common.cpp.

◆ scaleVertices() [1/2]

void tesseract_collision::scaleVertices	(	tesseract_common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	center,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
center	The point at which to scale the data about
scale	The scale factor to apply to the vertices.

Definition at line 155 of file common.cpp.

◆ scaleVertices() [2/2]

void tesseract_collision::scaleVertices	(	tesseract_common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
scale	The scale factor to apply to the vertices.

Definition at line 163 of file common.cpp.

◆ writeSimplePlyFile() [1/2]

bool tesseract_collision::writeSimplePlyFile	(	const std::string &	path,
		const tesseract_common::VectorVector3d &	vertices,
		const Eigen::VectorXi &	faces,
		int	num_faces
	)

Write a simple ply file given vertices and faces.

Parameters

path	The file path
vertices	A vector of vertices
faces	The first values indicates the number of vertices that define the face followed by the vertice index
num_faces	The number of faces

Returns: False if failed to write file, otherwise true

Definition at line 280 of file common.cpp.

◆ writeSimplePlyFile() [2/2]

bool tesseract_collision::writeSimplePlyFile	(	const std::string &	path,
		const tesseract_common::VectorVector3d &	vertices,
		const std::vector< Eigen::Vector3i > &	vectices_color,
		const Eigen::VectorXi &	faces,
		int	num_faces
	)

Write a simple ply file given vertices and faces.

Parameters

path	The file path
vertices	A vector of vertices
vertices_color	The vertices color (0-255,0-255,0-255), if empty uses a default color
faces	The first values indicates the number of vertices that define the face followed by the vertice index
num_faces	The number of faces

Returns: False if failed to write file, otherwise true

Definition at line 174 of file common.cpp.

Variable Documentation

◆ ContactTestTypeStrings

const std::vector<std::string> tesseract_collision::ContactTestTypeStrings

static

Initial value:

= {
  "FIRST",
  "CLOSEST",
  "ALL",
  "LIMITED",
}

Definition at line 74 of file types.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ CollisionMarginData

◆ CollisionMarginPairData

◆ CollisionMarginPairOverrideType

◆ CollisionShapeConstPtr

◆ CollisionShapePtr

◆ CollisionShapesConst

◆ ContactResultAnyPoly

◆ ContactResultMapAnyPoly

◆ ContactResultMapVectorAnyPoly

◆ ContactResultVector

◆ ObjectPairKey

Enumeration Type Documentation

◆ ACMOverrideType

◆ CollisionCheckProgramType

◆ CollisionEvaluatorType

◆ ContactTestType

◆ ContinuousCollisionType

Function Documentation

◆ applyContactAllowedValidatorOverride()

◆ applyModifyObjectEnabled()

◆ combineContactAllowedValidators()

◆ createConvexHull()

◆ getCollisionObjectPairs()

◆ isContactAllowed()

◆ isLinkActive()

◆ loadSimplePlyFile()

◆ makeConvexMesh()

◆ processResult()

◆ scaleVertices() [1/2]

◆ scaleVertices() [2/2]

◆ writeSimplePlyFile() [1/2]

◆ writeSimplePlyFile() [2/2]

Variable Documentation

◆ ContactTestTypeStrings