tesseract_collision::tesseract_collision_fcl Namespace Reference

Classes
class	CollisionObjectWrapper
	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...
class	FCLCollisionGeometryCache
class	FCLCollisionObjectWrapper
	This is a wrapper around FCL Collision Object Class which allows you to expand the AABB by the contact dist. More...
class	FCLDiscreteBVHManager
	A FCL implementation of the discrete contact manager. More...
class	FCLDiscreteBVHManagerFactory

Typedefs
using	CollisionGeometryPtr = std::shared_ptr< fcl::CollisionGeometryd >
using	CollisionObjectConstPtr = std::shared_ptr< const fcl::CollisionObjectd >
using	CollisionObjectPtr = std::shared_ptr< FCLCollisionObjectWrapper >
using	CollisionObjectRawPtr = fcl::CollisionObjectd *
using	COW = CollisionObjectWrapper
using	Link2ConstCOW = std::map< std::string, COW::ConstPtr >
using	Link2COW = std::map< std::string, COW::Ptr >

Enumerations
enum	CollisionFilterGroups : std::int8_t { DefaultFilter = 1, StaticFilter = 2, KinematicFilter = 4, AllFilter = -1 }

Functions
bool	collisionCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
COW::Ptr	createFCLCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled)
CollisionGeometryPtr	createShapePrimitive (const CollisionShapeConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Box::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Capsule::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Cone::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::ConvexMesh::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Cylinder::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Mesh::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Octree::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Plane::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitive (const tesseract_geometry::Sphere::ConstPtr &geom)
CollisionGeometryPtr	createShapePrimitiveHelper (const CollisionShapeConstPtr &geom)
bool	distanceCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
void	updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &static_manager, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &dynamic_manager)
	Update collision objects filters. More...

Variables
static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST
static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

Typedef Documentation

CollisionGeometryPtr

using tesseract_collision::tesseract_collision_fcl::CollisionGeometryPtr = typedef std::shared_ptr<fcl::CollisionGeometryd>

Definition at line 60 of file fcl_utils.h.

CollisionObjectConstPtr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectConstPtr = typedef std::shared_ptr<const fcl::CollisionObjectd>

Definition at line 63 of file fcl_utils.h.

CollisionObjectPtr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectPtr = typedef std::shared_ptr<FCLCollisionObjectWrapper>

Definition at line 61 of file fcl_utils.h.

CollisionObjectRawPtr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectRawPtr = typedef fcl::CollisionObjectd*

Definition at line 62 of file fcl_utils.h.

COW

using tesseract_collision::tesseract_collision_fcl::COW = typedef CollisionObjectWrapper

Definition at line 191 of file fcl_utils.h.

Link2ConstCOW

using tesseract_collision::tesseract_collision_fcl::Link2ConstCOW = typedef std::map<std::string, COW::ConstPtr>

Definition at line 193 of file fcl_utils.h.

Link2COW

using tesseract_collision::tesseract_collision_fcl::Link2COW = typedef std::map<std::string, COW::Ptr>

Definition at line 192 of file fcl_utils.h.

Enumeration Type Documentation

CollisionFilterGroups

enum tesseract_collision::tesseract_collision_fcl::CollisionFilterGroups : std::int8_t

Enumerator
DefaultFilter
StaticFilter
KinematicFilter
AllFilter

Definition at line 65 of file fcl_utils.h.

Function Documentation

collisionCallback()

bool tesseract_collision::tesseract_collision_fcl::collisionCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

Definition at line 219 of file fcl_utils.cpp.

createFCLCollisionObject()

COW::Ptr tesseract_collision::tesseract_collision_fcl::createFCLCollisionObject ( const std::string &  name, const int &  type_id, const CollisionShapesConst &  shapes, const tesseract_common::VectorIsometry3d &  shape_poses, bool  enabled  )

inline

Definition at line 195 of file fcl_utils.h.

createShapePrimitive() [1/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const CollisionShapeConstPtr &

geom

)

Definition at line 208 of file fcl_utils.cpp.

createShapePrimitive() [2/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Box::ConstPtr &

geom

)

Definition at line 67 of file fcl_utils.cpp.

createShapePrimitive() [3/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Capsule::ConstPtr &

geom

)

Definition at line 87 of file fcl_utils.cpp.

createShapePrimitive() [4/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Cone::ConstPtr &

geom

)

Definition at line 82 of file fcl_utils.cpp.

createShapePrimitive() [5/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::ConvexMesh::ConstPtr &

geom

)

Definition at line 122 of file fcl_utils.cpp.

createShapePrimitive() [6/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Cylinder::ConstPtr &

geom

)

Definition at line 77 of file fcl_utils.cpp.

createShapePrimitive() [7/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Mesh::ConstPtr &

geom

)

Definition at line 92 of file fcl_utils.cpp.

createShapePrimitive() [8/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Octree::ConstPtr &

geom

)

Definition at line 138 of file fcl_utils.cpp.

createShapePrimitive() [9/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Plane::ConstPtr &

geom

)

Definition at line 62 of file fcl_utils.cpp.

createShapePrimitive() [10/10]

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitive

(

const tesseract_geometry::Sphere::ConstPtr &

geom

)

Definition at line 72 of file fcl_utils.cpp.

createShapePrimitiveHelper()

CollisionGeometryPtr tesseract_collision::tesseract_collision_fcl::createShapePrimitiveHelper

(

const CollisionShapeConstPtr &

geom

)

Definition at line 155 of file fcl_utils.cpp.

distanceCallback()

bool tesseract_collision::tesseract_collision_fcl::distanceCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

Definition at line 287 of file fcl_utils.cpp.

updateCollisionObjectFilters()

void tesseract_collision::tesseract_collision_fcl::updateCollisionObjectFilters ( const std::vector< std::string > &  active, const COW::Ptr &  cow, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &  static_manager, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &  dynamic_manager  )

inline

Update collision objects filters.

Parameters

active	The active collision objects
cow	The collision object to update
static_manager	Broadphasse manager for static objects
dynamic_manager	Broadphase manager for dynamic objects

Definition at line 222 of file fcl_utils.h.

Variable Documentation

EMPTY_COLLISION_SHAPES_CONST

const CollisionShapesConst tesseract_collision::tesseract_collision_fcl::EMPTY_COLLISION_SHAPES_CONST

static

Definition at line 47 of file fcl_discrete_managers.cpp.

EMPTY_COLLISION_SHAPES_TRANSFORMS

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_fcl::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Definition at line 48 of file fcl_discrete_managers.cpp.