tesseract_common::CollisionMarginPairData Class Reference

#include <collision_margin_data.h>

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...
void	clear ()
	Clear/Reset the data structure. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionMarginPairData ()=default
	CollisionMarginPairData (const PairsCollisionMarginData &pair_margins)
bool	empty () const
	Check if empty. More...
std::optional< double >	getCollisionMargin (const std::string &obj1, const std::string &obj2) const
	Get the pairs collision margin data. More...
const PairsCollisionMarginData &	getCollisionMargins () const
	Get Collision Margin Data for stored pairs. More...
double	getMaxCollisionMargin () const
	Get the largest pair collision margin. More...
void	incrementMargins (double increment)
	Increment all margins by input amount. Useful for inflating or reducing margins. More...
bool	operator!= (const CollisionMarginPairData &rhs) const
bool	operator== (const CollisionMarginPairData &rhs) const
void	scaleMargins (double scale)
	Scale all margins by input value. More...
void	setCollisionMargin (const std::string &obj1, const std::string &obj2, double margin)
	Set the margin for a given contact pair. More...

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
void	updateCollisionMarginMax ()
	Recalculate the max margin. More...

Private Attributes
PairsCollisionMarginData	lookup_table_
	A map of link pair names to contact distance. More...
double	max_collision_margin_ { std::numeric_limits<double>::lowest() }
	Stores the largest collision margin. More...

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

Detailed Description

Definition at line 68 of file collision_margin_data.h.

Constructor & Destructor Documentation

CollisionMarginPairData() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW tesseract_common::CollisionMarginPairData::CollisionMarginPairData ( )

default

CollisionMarginPairData() [2/2]

tesseract_common::CollisionMarginPairData::CollisionMarginPairData

(

const PairsCollisionMarginData &

pair_margins

)

Definition at line 42 of file collision_margin_data.cpp.

Member Function Documentation

apply()

void tesseract_common::CollisionMarginPairData::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 107 of file collision_margin_data.cpp.

clear()

void tesseract_common::CollisionMarginPairData::clear

(

)

Clear/Reset the data structure.

Definition at line 94 of file collision_margin_data.cpp.

empty()

bool tesseract_common::CollisionMarginPairData::empty

(

)

const

Check if empty.

Returns

True if empty otherwise false

Definition at line 92 of file collision_margin_data.cpp.

getCollisionMargin()

std::optional< double > tesseract_common::CollisionMarginPairData::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 link pair contact margin if exists

Definition at line 55 of file collision_margin_data.cpp.

getCollisionMargins()

const PairsCollisionMarginData & tesseract_common::CollisionMarginPairData::getCollisionMargins

(

)

const

Get Collision Margin Data for stored pairs.

Returns

A map of link pairs collision margin data

Definition at line 70 of file collision_margin_data.cpp.

getMaxCollisionMargin()

double tesseract_common::CollisionMarginPairData::getMaxCollisionMargin

(

)

const

Get the largest pair collision margin.

Returns

Max pair contact distance threshold

Definition at line 68 of file collision_margin_data.cpp.

incrementMargins()

void tesseract_common::CollisionMarginPairData::incrementMargins

(

double

increment

)

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

Parameters

increment

Amount to increment margins

Definition at line 72 of file collision_margin_data.cpp.

operator!=()

bool tesseract_common::CollisionMarginPairData::operator!=

(

const CollisionMarginPairData &

rhs

)

const

Definition at line 154 of file collision_margin_data.cpp.

operator==()

bool tesseract_common::CollisionMarginPairData::operator==

(

const CollisionMarginPairData &

rhs

)

const

Definition at line 132 of file collision_margin_data.cpp.

scaleMargins()

void tesseract_common::CollisionMarginPairData::scaleMargins

(

double

scale

)

Scale all margins by input value.

Parameters

scale

Value by which all margins are multiplied

Definition at line 82 of file collision_margin_data.cpp.

serialize()

template<class Archive >

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

private

Definition at line 157 of file collision_margin_data.cpp.

setCollisionMargin()

void tesseract_common::CollisionMarginPairData::setCollisionMargin	(	const std::string &	obj1,
		const std::string &	obj2,
		double	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
  margin	contacts with distance < collision_margin are considered in collision

Definition at line 48 of file collision_margin_data.cpp.

updateCollisionMarginMax()

void tesseract_common::CollisionMarginPairData::updateCollisionMarginMax ( )

private

Recalculate the max margin.

Definition at line 100 of file collision_margin_data.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 152 of file collision_margin_data.h.

tesseract_common::Serialization

friend struct tesseract_common::Serialization

friend

Definition at line 153 of file collision_margin_data.h.

Member Data Documentation

lookup_table_

PairsCollisionMarginData tesseract_common::CollisionMarginPairData::lookup_table_

private

A map of link pair names to contact distance.

Definition at line 144 of file collision_margin_data.h.

max_collision_margin_

double tesseract_common::CollisionMarginPairData::max_collision_margin_ { std::numeric_limits<double>::lowest() }

private

Stores the largest collision margin.

Definition at line 147 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