tesseract_common::AllowedCollisionMatrix Class Reference

#include <allowed_collision_matrix.h>

Public Types
using	ConstPtr = std::shared_ptr< const AllowedCollisionMatrix >
using	Ptr = std::shared_ptr< AllowedCollisionMatrix >

Public Member Functions
virtual void	addAllowedCollision (const std::string &link_name1, const std::string &link_name2, const std::string &reason)
	Disable collision between two collision objects. More...
	AllowedCollisionMatrix ()=default
	AllowedCollisionMatrix (AllowedCollisionMatrix &&)=default
	AllowedCollisionMatrix (const AllowedCollisionEntries &entries)
	AllowedCollisionMatrix (const AllowedCollisionMatrix &)=default
void	clearAllowedCollisions ()
	Clears the list of allowed collisions, so that no collision will be allowed. More...
const AllowedCollisionEntries &	getAllAllowedCollisions () const
	Get all of the entries in the allowed collision matrix. More...
void	insertAllowedCollisionMatrix (const AllowedCollisionMatrix &acm)
	Inserts an allowable collision matrix ignoring duplicate pairs. More...
virtual bool	isCollisionAllowed (const std::string &link_name1, const std::string &link_name2) const
	This checks if two links are allowed to be in collision. More...
bool	operator!= (const AllowedCollisionMatrix &rhs) const
AllowedCollisionMatrix &	operator= (AllowedCollisionMatrix &&)=default
AllowedCollisionMatrix &	operator= (const AllowedCollisionMatrix &)=default
bool	operator== (const AllowedCollisionMatrix &rhs) const
virtual void	removeAllowedCollision (const std::string &link_name)
	Remove disabled collision for any pair with link_name from allowed collision matrix. More...
virtual void	removeAllowedCollision (const std::string &link_name1, const std::string &link_name2)
	Remove disabled collision pair from allowed collision matrix. More...
void	reserveAllowedCollisionMatrix (std::size_t size)
	Reserve space for the internal data storage. More...
virtual	~AllowedCollisionMatrix ()=default

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
AllowedCollisionEntries	lookup_table_

Friends
class	boost::serialization::access
struct	tesseract_common::Serialization

Detailed Description

Definition at line 28 of file allowed_collision_matrix.h.

Member Typedef Documentation

ConstPtr

using tesseract_common::AllowedCollisionMatrix::ConstPtr = std::shared_ptr<const AllowedCollisionMatrix>

Definition at line 36 of file allowed_collision_matrix.h.

Ptr

using tesseract_common::AllowedCollisionMatrix::Ptr = std::shared_ptr<AllowedCollisionMatrix>

Definition at line 35 of file allowed_collision_matrix.h.

Constructor & Destructor Documentation

AllowedCollisionMatrix() [1/4]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( )

default

AllowedCollisionMatrix() [2/4]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix

(

const AllowedCollisionEntries &

entries

)

Definition at line 60 of file allowed_collision_matrix.cpp.

~AllowedCollisionMatrix()

virtual tesseract_common::AllowedCollisionMatrix::~AllowedCollisionMatrix ( )

virtualdefault

AllowedCollisionMatrix() [3/4]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( const AllowedCollisionMatrix &  )

default

AllowedCollisionMatrix() [4/4]

tesseract_common::AllowedCollisionMatrix::AllowedCollisionMatrix ( AllowedCollisionMatrix &&  )

default

Member Function Documentation

addAllowedCollision()

void tesseract_common::AllowedCollisionMatrix::addAllowedCollision ( const std::string &  link_name1, const std::string &  link_name2, const std::string &  reason  )

virtual

Disable collision between two collision objects.

Parameters

obj1	Collision object name
obj2	Collision object name
reason	The reason for disabling collison

Definition at line 69 of file allowed_collision_matrix.cpp.

clearAllowedCollisions()

void tesseract_common::AllowedCollisionMatrix::clearAllowedCollisions

(

)

Clears the list of allowed collisions, so that no collision will be allowed.

Definition at line 107 of file allowed_collision_matrix.cpp.

getAllAllowedCollisions()

const AllowedCollisionEntries & tesseract_common::AllowedCollisionMatrix::getAllAllowedCollisions

(

)

const

Get all of the entries in the allowed collision matrix.

Returns

AllowedCollisionEntries an unordered map containing all allowed collision entries. The keys of the unordered map are a std::pair of the link names in the allowed collision pair.

Definition at line 77 of file allowed_collision_matrix.cpp.

insertAllowedCollisionMatrix()

void tesseract_common::AllowedCollisionMatrix::insertAllowedCollisionMatrix

(

const AllowedCollisionMatrix &

acm

)

Inserts an allowable collision matrix ignoring duplicate pairs.

Parameters

acm	ACM to be inserted

Definition at line 109 of file allowed_collision_matrix.cpp.

isCollisionAllowed()

bool tesseract_common::AllowedCollisionMatrix::isCollisionAllowed ( const std::string &  link_name1, const std::string &  link_name2  ) const

virtual

This checks if two links are allowed to be in collision.

Parameters

link_name1	First link name
link_name2	Second link anme

Returns

True if allowed to be in collision, otherwise false

Definition at line 100 of file allowed_collision_matrix.cpp.

operator!=()

bool tesseract_common::AllowedCollisionMatrix::operator!=

(

const AllowedCollisionMatrix &

rhs

)

const

Definition at line 123 of file allowed_collision_matrix.cpp.

operator=() [1/2]

AllowedCollisionMatrix& tesseract_common::AllowedCollisionMatrix::operator= ( AllowedCollisionMatrix &&  )

default

operator=() [2/2]

AllowedCollisionMatrix& tesseract_common::AllowedCollisionMatrix::operator= ( const AllowedCollisionMatrix &  )

default

operator==()

bool tesseract_common::AllowedCollisionMatrix::operator==

(

const AllowedCollisionMatrix &

rhs

)

const

Definition at line 116 of file allowed_collision_matrix.cpp.

removeAllowedCollision() [1/2]

void tesseract_common::AllowedCollisionMatrix::removeAllowedCollision ( const std::string &  link_name )

virtual

Remove disabled collision for any pair with link_name from allowed collision matrix.

Parameters

link_name

Collision object name

Definition at line 85 of file allowed_collision_matrix.cpp.

removeAllowedCollision() [2/2]

void tesseract_common::AllowedCollisionMatrix::removeAllowedCollision ( const std::string &  link_name1, const std::string &  link_name2  )

virtual

Remove disabled collision pair from allowed collision matrix.

Parameters

obj1	Collision object name
obj2	Collision object name

Definition at line 79 of file allowed_collision_matrix.cpp.

reserveAllowedCollisionMatrix()

void tesseract_common::AllowedCollisionMatrix::reserveAllowedCollisionMatrix

(

std::size_t

size

)

Reserve space for the internal data storage.

Parameters

size	The size to reserve

Definition at line 114 of file allowed_collision_matrix.cpp.

serialize()

template<class Archive >

void tesseract_common::AllowedCollisionMatrix::serialize ( Archive &  ar, const unsigned int  version  )

private

Definition at line 126 of file allowed_collision_matrix.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 109 of file allowed_collision_matrix.h.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 110 of file allowed_collision_matrix.h.

Member Data Documentation

lookup_table_

AllowedCollisionEntries tesseract_common::AllowedCollisionMatrix::lookup_table_

private

Definition at line 107 of file allowed_collision_matrix.h.

---

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

• allowed_collision_matrix.h
• allowed_collision_matrix.cpp