types.h File Reference

Tesseracts Collision Forward Declarations. More...

#include <tesseract_common/macros.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <vector>
#include <memory>
#include <map>
#include <array>
#include <unordered_map>
#include <functional>
#include <tesseract_common/fwd.h>
#include <tesseract_common/any_poly.h>
#include <tesseract_common/eigen_types.h>
#include <tesseract_common/collision_margin_data.h>
#include <tesseract_geometry/fwd.h>

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Classes
struct	tesseract_collision::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	tesseract_collision::ContactManagerConfig
	Contains parameters used to configure a contact manager before a series of contact checks. More...
struct	tesseract_collision::ContactRequest
	The ContactRequest struct. More...
struct	tesseract_collision::ContactResult
class	tesseract_collision::ContactResultMap
	This structure hold contact results for link pairs. More...
struct	tesseract_collision::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	tesseract_collision::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	tesseract_collision::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	tesseract_collision::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...

Namespaces
	tesseract_collision

Typedefs
using	tesseract_collision::CollisionMarginData = tesseract_common::CollisionMarginData
using	tesseract_collision::CollisionMarginPairData = tesseract_common::CollisionMarginPairData
using	tesseract_collision::CollisionMarginPairOverrideType = tesseract_common::CollisionMarginPairOverrideType
using	tesseract_collision::CollisionShapeConstPtr = std::shared_ptr< const tesseract_geometry::Geometry >
using	tesseract_collision::CollisionShapePtr = std::shared_ptr< tesseract_geometry::Geometry >
using	tesseract_collision::CollisionShapesConst = std::vector< CollisionShapeConstPtr >
using	tesseract_collision::ContactResultAnyPoly = tesseract_common::AnyWrapper< ContactResult >
using	tesseract_collision::ContactResultMapAnyPoly = tesseract_common::AnyWrapper< ContactResultMap >
using	tesseract_collision::ContactResultMapVectorAnyPoly = tesseract_common::AnyWrapper< std::vector< tesseract_collision::ContactResultMap > >
using	tesseract_collision::ContactResultVector = tesseract_common::AlignedVector< ContactResult >

Enumerations
enum	tesseract_collision::ACMOverrideType : std::uint8_t { tesseract_collision::ACMOverrideType::NONE, tesseract_collision::ACMOverrideType::ASSIGN, tesseract_collision::ACMOverrideType::AND, tesseract_collision::ACMOverrideType::OR }
	Identifies how the provided AllowedCollisionMatrix should be applied relative to the isAllowedFn in the contact manager. More...
enum	tesseract_collision::CollisionCheckProgramType : std::uint8_t {   tesseract_collision::CollisionCheckProgramType::ALL, tesseract_collision::CollisionCheckProgramType::ALL_EXCEPT_START, tesseract_collision::CollisionCheckProgramType::ALL_EXCEPT_END, tesseract_collision::CollisionCheckProgramType::START_ONLY,   tesseract_collision::CollisionCheckProgramType::END_ONLY, tesseract_collision::CollisionCheckProgramType::INTERMEDIATE_ONLY }
	The mode used to check program. More...
enum	tesseract_collision::CollisionEvaluatorType : std::uint8_t {   tesseract_collision::CollisionEvaluatorType::NONE, tesseract_collision::CollisionEvaluatorType::DISCRETE, tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE, tesseract_collision::CollisionEvaluatorType::CONTINUOUS,   tesseract_collision::CollisionEvaluatorType::LVS_CONTINUOUS }
	High level descriptor used in planners and utilities to specify what kind of collision check is desired. More...
enum	tesseract_collision::ContactTestType : std::uint8_t { tesseract_collision::ContactTestType::FIRST = 0, tesseract_collision::ContactTestType::CLOSEST = 1, tesseract_collision::ContactTestType::ALL = 2, tesseract_collision::ContactTestType::LIMITED = 3 }
enum	tesseract_collision::ContinuousCollisionType : std::uint8_t { tesseract_collision::ContinuousCollisionType::CCType_None, tesseract_collision::ContinuousCollisionType::CCType_Time0, tesseract_collision::ContinuousCollisionType::CCType_Time1, tesseract_collision::ContinuousCollisionType::CCType_Between }

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

Detailed Description

Tesseracts Collision Forward Declarations.

Tesseracts Collision Common Types.

Author

Levi Armstrong

Date

February 17, 2024

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2024, Levi Armstrong

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Author

Levi Armstrong

Date

January 18, 2018

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file types.h.