The class of collision scene. More...

#include <collision_scene.h>

Inheritance diagram for exotica::CollisionScene:

Collaboration diagram for exotica::CollisionScene:

Public Member Functions
	CollisionScene ()

virtual	~CollisionScene ()

virtual void	InstantiateBase (const Initializer &init)
	Instantiates the base properties of the CollisionScene. More...

virtual void	Setup ()
	Setup additional construction that requires initialiser parameter. More...

virtual bool	IsAllowedToCollide (const std::string &o1, const std::string &o2, const bool &self)
	Returns whether two collision objects/shapes are allowed to collide by name. More...

virtual bool	IsStateValid (bool self=true, double safe_distance=0.0)=0
	Checks if the whole robot is valid (collision only). More...

virtual bool	IsCollisionFree (const std::string &o1, const std::string &o2, double safe_distance=0.0)
	Checks if two objects are in collision. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (bool self)
	Computes collision distances. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const std::string &o2)
	Computes collision distances between two objects. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const bool &self)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::string &o1, const bool &self, const bool &disable_collision_scene_update)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1. More...

virtual std::vector< CollisionProxy >	GetCollisionDistance (const std::vector< std::string > &objects, const bool &self)
	Gets the closest distance of any collision object which is allowed to collide with any collision object related to any of the objects. More...

virtual std::vector< CollisionProxy >	GetRobotToRobotCollisionDistance (double check_margin)
	Gets the closest distances between links within the robot that are closer than check_margin. More...

virtual std::vector< CollisionProxy >	GetRobotToWorldCollisionDistance (double check_margin)
	Gets the closest distances between links of the robot and the environment that are closer than check_margin. More...

virtual std::vector< std::string >	GetCollisionWorldLinks ()=0
	Gets the collision world links. More...

virtual std::vector< std::string >	GetCollisionRobotLinks ()=0
	Gets the collision robot links. More...

virtual ContinuousCollisionProxy	ContinuousCollisionCheck (const std::string &o1, const KDL::Frame &tf1_beg, const KDL::Frame &tf1_end, const std::string &o2, const KDL::Frame &tf2_beg, const KDL::Frame &tf2_end)
	Performs a continuous collision check between two objects with a linear interpolation between two given. More...

virtual std::vector< ContinuousCollisionProxy >	ContinuousCollisionCast (const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> &motion_transforms)
	Performs a continuous collision check by casting the active objects passed in against the static environment. More...

virtual Eigen::Vector3d	GetTranslation (const std::string &name)=0
	Returns the translation of the named collision object. More...

void	SetACM (const AllowedCollisionMatrix &acm)

bool	GetAlwaysExternallyUpdatedCollisionScene () const

void	SetAlwaysExternallyUpdatedCollisionScene (const bool value)

double	GetRobotLinkScale () const

void	SetRobotLinkScale (const double scale)

double	GetWorldLinkScale () const

void	SetWorldLinkScale (const double scale)

double	GetRobotLinkPadding () const

void	SetRobotLinkPadding (const double padding)

double	GetWorldLinkPadding () const

void	SetWorldLinkPadding (const double padding)

bool	GetReplacePrimitiveShapesWithMeshes () const

void	SetReplacePrimitiveShapesWithMeshes (const bool value)

virtual void	UpdateCollisionObjects (const std::map< std::string, std::weak_ptr< KinematicElement >> &objects)=0
	Creates the collision scene from kinematic elements. More...

virtual void	UpdateCollisionObjectTransforms ()=0
	Updates collision object transformations from the kinematic tree. More...

bool	get_replace_cylinders_with_capsules () const

void	set_replace_cylinders_with_capsules (const bool value)

void	AssignScene (std::shared_ptr< Scene > scene)
	Sets a scene pointer to the CollisionScene for access to methods. More...

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

virtual std::string	Print (const std::string &prepend) const

Public Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual Initializer	GetInitializerTemplate ()=0

virtual void	InstantiateInternal (const Initializer &init)=0

virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Attributes
bool	debug_ = false

Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Protected Attributes
bool	needs_update_of_collision_objects_ = true
	Indicates whether TriggerUpdateCollisionObjects needs to be called. More...

std::weak_ptr< Scene >	scene_
	Stores a pointer to the Scene which owns this CollisionScene. More...

AllowedCollisionMatrix	acm_
	The allowed collision matrix. More...

bool	always_externally_updated_collision_scene_ = false
	Whether the collision scene is automatically updated - if not, update on queries. More...

double	robot_link_scale_ = 1.0
	Robot link scaling. More...

double	world_link_scale_ = 1.0
	World link scaling. More...

double	robot_link_padding_ = 0.0
	Robot link padding. More...

double	world_link_padding_ = 0.0
	World link padding. More...

bool	replace_primitive_shapes_with_meshes_ = false
	Replace primitive shapes with meshes internally (e.g. when primitive shape algorithms are brittle, i.e. in FCL) More...

bool	replace_cylinders_with_capsules_ = false
	Replace cylinders with capsules internally. More...

std::string	robot_link_replacement_config_ = ""
	Filename for config file (YAML) which contains shape replacements. More...

Detailed Description

The class of collision scene.

Constructor & Destructor Documentation

◆ CollisionScene()

exotica::CollisionScene::CollisionScene ( )

inline

◆ ~CollisionScene()

virtual exotica::CollisionScene::~CollisionScene ( )

inlinevirtual

Member Function Documentation

◆ AssignScene()

void exotica::CollisionScene::AssignScene ( std::shared_ptr< Scene > scene )

inline

Sets a scene pointer to the CollisionScene for access to methods.

◆ ContinuousCollisionCast()

virtual std::vector<ContinuousCollisionProxy> exotica::CollisionScene::ContinuousCollisionCast ( const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> & motion_transforms )

inlinevirtual

Performs a continuous collision check by casting the active objects passed in against the static environment.

Parameters

[in] motion_transforms A tuple consisting out of collision object name and its beginning and final transform.

Returns: Vector of deepest ContinuousCollisionProxy (one per dimension).

◆ ContinuousCollisionCheck()

virtual ContinuousCollisionProxy exotica::CollisionScene::ContinuousCollisionCheck	(	const std::string &	o1,
		const KDL::Frame &	tf1_beg,
		const KDL::Frame &	tf1_end,
		const std::string &	o2,
		const KDL::Frame &	tf2_beg,
		const KDL::Frame &	tf2_end
	)

inlinevirtual

Performs a continuous collision check between two objects with a linear interpolation between two given.

Parameters

[in]	o1	The first collision object, by name.
[in]	tf1_beg	The beginning transform for o1.
[in]	tf1_end	The end transform for o1.
[in]	o2	The second collision object, by name.
[in]	tf2_beg	The beginning transform for o2.
[in]	tf2_end	The end transform for o2.

Returns: ContinuousCollisionProxy.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ get_replace_cylinders_with_capsules()

bool exotica::CollisionScene::get_replace_cylinders_with_capsules ( ) const

inline

◆ GetAlwaysExternallyUpdatedCollisionScene()

bool exotica::CollisionScene::GetAlwaysExternallyUpdatedCollisionScene ( ) const

inline

◆ GetCollisionDistance() [1/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance ( bool self )

inlinevirtual

Computes collision distances.

Parameters

self	Indicate if self collision check is required.

Returns: Collision proximity objects for all colliding pairs of shapes.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionDistance() [2/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1.

Parameters

[in] o1 Name of object 1.

Returns: Vector of proximity objects.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionDistance() [3/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self,
		const bool &	disable_collision_scene_update
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to object o1.

Parameters

[in]	o1	Name of object 1.
[in]	disable_collision_scene_update	Allows disabling of collision object transforms (requires manual update).

Returns: Vector of proximity objects.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionDistance() [4/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::string &	o1,
		const std::string &	o2
	)

inlinevirtual

Computes collision distances between two objects.

Parameters

o1	Name of object 1.
o2	Name of object 2.

Returns: Vector of proximity objects.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionDistance() [5/5]

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetCollisionDistance	(	const std::vector< std::string > &	objects,
		const bool &	self
	)

inlinevirtual

Gets the closest distance of any collision object which is allowed to collide with any collision object related to any of the objects.

Parameters

[in] objects Vector of object names.

Returns: Vector of proximity objects.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionRobotLinks()

virtual std::vector<std::string> exotica::CollisionScene::GetCollisionRobotLinks ( )

pure virtual

Gets the collision robot links.

Returns: The collision robot links.

Implemented in exotica::CollisionSceneFCLLatest.

◆ GetCollisionWorldLinks()

virtual std::vector<std::string> exotica::CollisionScene::GetCollisionWorldLinks ( )

pure virtual

Gets the collision world links.

Returns: The collision world links.

Implemented in exotica::CollisionSceneFCLLatest.

◆ GetReplacePrimitiveShapesWithMeshes()

bool exotica::CollisionScene::GetReplacePrimitiveShapesWithMeshes ( ) const

inline

◆ GetRobotLinkPadding()

double exotica::CollisionScene::GetRobotLinkPadding ( ) const

inline

◆ GetRobotLinkScale()

double exotica::CollisionScene::GetRobotLinkScale ( ) const

inline

◆ GetRobotToRobotCollisionDistance()

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetRobotToRobotCollisionDistance ( double check_margin )

inlinevirtual

Gets the closest distances between links within the robot that are closer than check_margin.

Parameters

[in] check_margin Margin for distance checks - only objects closer than this margin will be checked

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetRobotToWorldCollisionDistance()

virtual std::vector<CollisionProxy> exotica::CollisionScene::GetRobotToWorldCollisionDistance ( double check_margin )

inlinevirtual

Gets the closest distances between links of the robot and the environment that are closer than check_margin.

Parameters

[in] check_margin Margin for distance checks - only objects closer than this margin will be checked

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ GetTranslation()

virtual Eigen::Vector3d exotica::CollisionScene::GetTranslation ( const std::string & name )

pure virtual

Returns the translation of the named collision object.

Parameters

[in] name Name of the collision object to query.

Implemented in exotica::CollisionSceneFCLLatest.

◆ GetWorldLinkPadding()

double exotica::CollisionScene::GetWorldLinkPadding ( ) const

inline

◆ GetWorldLinkScale()

double exotica::CollisionScene::GetWorldLinkScale ( ) const

inline

◆ InstantiateBase()

virtual void exotica::CollisionScene::InstantiateBase ( const Initializer & init )

virtual

Instantiates the base properties of the CollisionScene.

Reimplemented from exotica::InstantiableBase.

◆ IsAllowedToCollide()

virtual bool exotica::CollisionScene::IsAllowedToCollide	(	const std::string &	o1,
		const std::string &	o2,
		const bool &	self
	)

virtual

Returns whether two collision objects/shapes are allowed to collide by name.

Parameters

o1	Name of the frame of the collision object (e.g., base_link_collision_0)
o2	Name of the frame of the other collision object (e.g., base_link_collision_0)

Returns: true The two objects are allowed to collide.; false The two objects are excluded, e.g., by an ACM.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ IsCollisionFree()

virtual bool exotica::CollisionScene::IsCollisionFree	(	const std::string &	o1,
		const std::string &	o2,
		double	safe_distance = `0.0`
	)

inlinevirtual

Checks if two objects are in collision.

Parameters

o1	Name of object 1.
o2	Name of object 2.

Returns: True is the two objects are not colliding.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ IsStateValid()

virtual bool exotica::CollisionScene::IsStateValid	(	bool	self = `true`,
		double	safe_distance = `0.0`
	)

pure virtual

Checks if the whole robot is valid (collision only).

Parameters

self	Indicate if self collision check is required.

Returns: True, if the state is collision free..

Implemented in exotica::CollisionSceneFCLLatest.

◆ set_replace_cylinders_with_capsules()

void exotica::CollisionScene::set_replace_cylinders_with_capsules ( const bool value )

inline

◆ SetACM()

void exotica::CollisionScene::SetACM ( const AllowedCollisionMatrix & acm )

inline

◆ SetAlwaysExternallyUpdatedCollisionScene()

void exotica::CollisionScene::SetAlwaysExternallyUpdatedCollisionScene ( const bool value )

inline

◆ SetReplacePrimitiveShapesWithMeshes()

void exotica::CollisionScene::SetReplacePrimitiveShapesWithMeshes ( const bool value )

inline

◆ SetRobotLinkPadding()

void exotica::CollisionScene::SetRobotLinkPadding ( const double padding )

inline

◆ SetRobotLinkScale()

void exotica::CollisionScene::SetRobotLinkScale ( const double scale )

inline

◆ Setup()

virtual void exotica::CollisionScene::Setup ( )

inlinevirtual

Setup additional construction that requires initialiser parameter.

Reimplemented in exotica::CollisionSceneFCLLatest.

◆ SetWorldLinkPadding()

void exotica::CollisionScene::SetWorldLinkPadding ( const double padding )

inline

◆ SetWorldLinkScale()

void exotica::CollisionScene::SetWorldLinkScale ( const double scale )

inline

◆ UpdateCollisionObjects()

virtual void exotica::CollisionScene::UpdateCollisionObjects ( const std::map< std::string, std::weak_ptr< KinematicElement >> & objects )

pure virtual

Creates the collision scene from kinematic elements.

Parameters

objects Vector kinematic element pointers of collision objects.

Implemented in exotica::CollisionSceneFCLLatest.

◆ UpdateCollisionObjectTransforms()

virtual void exotica::CollisionScene::UpdateCollisionObjectTransforms ( )

pure virtual

Updates collision object transformations from the kinematic tree.

Implemented in exotica::CollisionSceneFCLLatest.

Member Data Documentation

◆ acm_

AllowedCollisionMatrix exotica::CollisionScene::acm_

protected

The allowed collision matrix.

◆ always_externally_updated_collision_scene_

bool exotica::CollisionScene::always_externally_updated_collision_scene_ = false

protected

Whether the collision scene is automatically updated - if not, update on queries.

◆ debug_

bool exotica::CollisionScene::debug_ = false

◆ needs_update_of_collision_objects_

bool exotica::CollisionScene::needs_update_of_collision_objects_ = true

protected

Indicates whether TriggerUpdateCollisionObjects needs to be called.

◆ replace_cylinders_with_capsules_

bool exotica::CollisionScene::replace_cylinders_with_capsules_ = false

protected

Replace cylinders with capsules internally.

◆ replace_primitive_shapes_with_meshes_

bool exotica::CollisionScene::replace_primitive_shapes_with_meshes_ = false

protected

Replace primitive shapes with meshes internally (e.g. when primitive shape algorithms are brittle, i.e. in FCL)

◆ robot_link_padding_

double exotica::CollisionScene::robot_link_padding_ = 0.0

protected

Robot link padding.

◆ robot_link_replacement_config_

std::string exotica::CollisionScene::robot_link_replacement_config_ = ""

protected

Filename for config file (YAML) which contains shape replacements.

◆ robot_link_scale_

double exotica::CollisionScene::robot_link_scale_ = 1.0

protected

Robot link scaling.

◆ scene_

std::weak_ptr<Scene> exotica::CollisionScene::scene_

protected

Stores a pointer to the Scene which owns this CollisionScene.

◆ world_link_padding_

double exotica::CollisionScene::world_link_padding_ = 0.0

protected

World link padding.

◆ world_link_scale_

double exotica::CollisionScene::world_link_scale_ = 1.0

protected

World link scaling.

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

/tmp/exotica/exotica_core/include/exotica_core/collision_scene.h

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CollisionScene()

◆ ~CollisionScene()

Member Function Documentation

◆ AssignScene()

◆ ContinuousCollisionCast()

◆ ContinuousCollisionCheck()

◆ get_replace_cylinders_with_capsules()

◆ GetAlwaysExternallyUpdatedCollisionScene()

◆ GetCollisionDistance() [1/5]

◆ GetCollisionDistance() [2/5]

◆ GetCollisionDistance() [3/5]

◆ GetCollisionDistance() [4/5]

◆ GetCollisionDistance() [5/5]

◆ GetCollisionRobotLinks()

◆ GetCollisionWorldLinks()

◆ GetReplacePrimitiveShapesWithMeshes()

◆ GetRobotLinkPadding()

◆ GetRobotLinkScale()

◆ GetRobotToRobotCollisionDistance()

◆ GetRobotToWorldCollisionDistance()

◆ GetTranslation()

◆ GetWorldLinkPadding()

◆ GetWorldLinkScale()

◆ InstantiateBase()

◆ IsAllowedToCollide()

◆ IsCollisionFree()

◆ IsStateValid()

◆ set_replace_cylinders_with_capsules()

◆ SetACM()

◆ SetAlwaysExternallyUpdatedCollisionScene()

◆ SetReplacePrimitiveShapesWithMeshes()

◆ SetRobotLinkPadding()

◆ SetRobotLinkScale()

◆ Setup()

◆ SetWorldLinkPadding()

◆ SetWorldLinkScale()

◆ UpdateCollisionObjects()

◆ UpdateCollisionObjectTransforms()

Member Data Documentation

◆ acm_

◆ always_externally_updated_collision_scene_

◆ debug_

◆ needs_update_of_collision_objects_

◆ replace_cylinders_with_capsules_

◆ replace_primitive_shapes_with_meshes_

◆ robot_link_padding_

◆ robot_link_replacement_config_

◆ robot_link_scale_

◆ scene_

◆ world_link_padding_

◆ world_link_scale_