tesseract_common::CollisionMarginData Class Reference

Stores information about how the margins allowed between collision objects. More...

#include <collision_margin_data.h>

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

Public Member Functions
void	apply (const CollisionMarginPairData &pair_margin_data, CollisionMarginPairOverrideType override_type)
	Apply the contents of the provide CollisionMarginPairData based on the override type. More...
	CollisionMarginData (CollisionMarginPairData pair_collision_margins)
	CollisionMarginData (double default_collision_margin, CollisionMarginPairData pair_collision_margins)
	CollisionMarginData (double default_collision_margin=0)
double	getCollisionMargin (const std::string &obj1, const std::string &obj2) const
	Get the pairs collision margin data. More...
const CollisionMarginPairData &	getCollisionMarginPairData () const
	Get Collision Margin Data for stored pairs. More...
double	getDefaultCollisionMargin () const
	Get the default collision margin. More...
double	getMaxCollisionMargin () const
	Get the largest collision margin. More...
void	incrementMargins (double increment)
	Increment all margins by input amount. Useful for inflating or reducing margins. More...
bool	operator!= (const CollisionMarginData &rhs) const
bool	operator== (const CollisionMarginData &rhs) const
void	scaleMargins (double scale)
	Scale all margins by input value. More...
void	setCollisionMargin (const std::string &obj1, const std::string &obj2, double collision_margin)
	Set the margin for a given contact pair. More...
void	setDefaultCollisionMargin (double default_collision_margin)
	Set the default collision margin. More...

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

Private Attributes
double	default_collision_margin_ { 0 }
	Stores the collision margin used if no pair-specific one is set. More...
CollisionMarginPairData	pair_margins_
	A map of link pair names to contact distance. More...

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

Detailed Description

Stores information about how the margins allowed between collision objects.

Definition at line 159 of file collision_margin_data.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 165 of file collision_margin_data.h.

Ptr

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

Definition at line 164 of file collision_margin_data.h.

Constructor & Destructor Documentation

CollisionMarginData() [1/3]

tesseract_common::CollisionMarginData::CollisionMarginData

(

double

default_collision_margin = 0

)

Definition at line 163 of file collision_margin_data.cpp.

CollisionMarginData() [2/3]

tesseract_common::CollisionMarginData::CollisionMarginData	(	double	default_collision_margin,
		CollisionMarginPairData	pair_collision_margins
	)

Definition at line 168 of file collision_margin_data.cpp.

CollisionMarginData() [3/3]

tesseract_common::CollisionMarginData::CollisionMarginData

(

CollisionMarginPairData

pair_collision_margins

)

Definition at line 174 of file collision_margin_data.cpp.

Member Function Documentation

apply()

void tesseract_common::CollisionMarginData::apply	(	const CollisionMarginPairData &	pair_margin_data,
		CollisionMarginPairOverrideType	override_type
	)

Apply the contents of the provide CollisionMarginPairData based on the override type.

Parameters

pair_margin_data	The collision margin pair data to apply
override_type	The type indicating how the provided data should be applied.

Definition at line 222 of file collision_margin_data.cpp.

getCollisionMargin()

double tesseract_common::CollisionMarginData::getCollisionMargin	(	const std::string &	obj1,
		const std::string &	obj2
	)		const

Get the pairs collision margin data.

If a collision margin for the request pair does not exist it returns the default collision margin data.

Parameters

obj1	The first object name
obj2	The second object name

Returns

A Vector2d[Contact Distance Threshold, Coefficient]

Definition at line 191 of file collision_margin_data.cpp.

getCollisionMarginPairData()

const CollisionMarginPairData & tesseract_common::CollisionMarginData::getCollisionMarginPairData

(

)

const

Get Collision Margin Data for stored pairs.

Returns

A map of link pairs collision margin data

Definition at line 200 of file collision_margin_data.cpp.

getDefaultCollisionMargin()

double tesseract_common::CollisionMarginData::getDefaultCollisionMargin

(

)

const

Get the default collision margin.

Returns

default collision margin

Definition at line 184 of file collision_margin_data.cpp.

getMaxCollisionMargin()

double tesseract_common::CollisionMarginData::getMaxCollisionMargin

(

)

const

Get the largest collision margin.

This used when setting the contact distance in the contact manager.

Returns

Max contact distance threshold

Definition at line 202 of file collision_margin_data.cpp.

incrementMargins()

void tesseract_common::CollisionMarginData::incrementMargins

(

double

increment

)

Increment all margins by input amount. Useful for inflating or reducing margins.

Parameters

increment

Amount to increment margins

Definition at line 210 of file collision_margin_data.cpp.

operator!=()

bool tesseract_common::CollisionMarginData::operator!=

(

const CollisionMarginData &

rhs

)

const

Definition at line 237 of file collision_margin_data.cpp.

operator==()

bool tesseract_common::CollisionMarginData::operator==

(

const CollisionMarginData &

rhs

)

const

Definition at line 228 of file collision_margin_data.cpp.

scaleMargins()

void tesseract_common::CollisionMarginData::scaleMargins

(

double

scale

)

Scale all margins by input value.

Parameters

scale

Value by which all margins are multiplied

Definition at line 216 of file collision_margin_data.cpp.

serialize()

template<class Archive >

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

private

Definition at line 240 of file collision_margin_data.cpp.

setCollisionMargin()

void tesseract_common::CollisionMarginData::setCollisionMargin	(	const std::string &	obj1,
		const std::string &	obj2,
		double	collision_margin
	)

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

Definition at line 186 of file collision_margin_data.cpp.

setDefaultCollisionMargin()

void tesseract_common::CollisionMarginData::setDefaultCollisionMargin

(

double

default_collision_margin

)

Set the default collision margin.

Parameters

default_collision_margin

New default collision margin

Definition at line 179 of file collision_margin_data.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 250 of file collision_margin_data.h.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 251 of file collision_margin_data.h.

Member Data Documentation

default_collision_margin_

double tesseract_common::CollisionMarginData::default_collision_margin_ { 0 }

private

Stores the collision margin used if no pair-specific one is set.

Definition at line 245 of file collision_margin_data.h.

pair_margins_

CollisionMarginPairData tesseract_common::CollisionMarginData::pair_margins_

private

A map of link pair names to contact distance.

Definition at line 248 of file collision_margin_data.h.

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

• collision_margin_data.h
• collision_margin_data.cpp