#include <collision_scene_fcl_latest.h>

Inheritance diagram for exotica::CollisionSceneFCLLatest:

Collaboration diagram for exotica::CollisionSceneFCLLatest:

Classes
struct	CollisionData

struct	DistanceData

Public Member Functions
void	Setup () override
	Setup additional construction that requires initialiser parameter. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	UpdateCollisionObjectTransforms () override
	Updates collision object transformations from the kinematic tree. More...

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

virtual	~CollisionScene ()

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

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)

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

Public Member Functions inherited from exotica::Instantiable< CollisionSceneFCLLatestInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

virtual void	Instantiate (const CollisionSceneFCLLatestInitializer &init)

const CollisionSceneFCLLatestInitializer &	GetParameters () const

Static Public Member Functions
static bool	IsAllowedToCollide (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, bool self, CollisionSceneFCLLatest *scene)

static bool	CollisionCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data)

static bool	CollisionCallbackDistance (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data, double &dist)

Private Member Functions
std::shared_ptr< fcl::CollisionObjectd >	ConstructFclCollisionObject (long i, std::shared_ptr< KinematicElement > element)

std::shared_ptr< KinematicElement >	GetKinematicElementFromMapByName (const std::string &frame_name)

std::vector< fcl::CollisionObjectd * >	GetRobotCollisionObjectsFromMapByName (const std::string &frame_name)

std::vector< fcl::CollisionObjectd * >	GetWorldCollisionObjectsFromMapByName (const std::string &frame_name)

std::vector< fcl::CollisionObjectd * >	GetCollisionObjectsFromMapByName (const std::string &frame_name)

Static Private Member Functions
static void	CheckCollision (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, CollisionData *data)

static void	ComputeDistance (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, DistanceData *data)

Private Attributes
std::shared_ptr< fcl::BroadPhaseCollisionManagerd >	broad_phase_collision_manager_

std::vector< fcl::CollisionObjectd * >	fcl_objects_

std::vector< std::shared_ptr< fcl::CollisionObjectd > >	fcl_cache_

std::vector< std::weak_ptr< KinematicElement > >	kinematic_elements_

std::map< std::string, std::weak_ptr< KinematicElement > >	kinematic_elements_map_

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_objects_map_

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_robot_objects_map_

std::map< std::string, std::vector< fcl::CollisionObjectd * > >	fcl_world_objects_map_

Additional Inherited Members
Public Attributes inherited from exotica::CollisionScene
bool	debug_ = false

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

std::string	object_name_

bool	debug_

Protected Attributes inherited from exotica::CollisionScene
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...

Protected Attributes inherited from exotica::Instantiable< CollisionSceneFCLLatestInitializer >
CollisionSceneFCLLatestInitializer	parameters_

Member Function Documentation

◆ CheckCollision()

static void exotica::CollisionSceneFCLLatest::CheckCollision	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		CollisionData *	data
	)

staticprivate

◆ CollisionCallback()

static bool exotica::CollisionSceneFCLLatest::CollisionCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

static

◆ CollisionCallbackDistance()

static bool exotica::CollisionSceneFCLLatest::CollisionCallbackDistance	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data,
		double &	dist
	)

static

◆ ComputeDistance()

static void exotica::CollisionSceneFCLLatest::ComputeDistance	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		DistanceData *	data
	)

staticprivate

◆ ConstructFclCollisionObject()

std::shared_ptr<fcl::CollisionObjectd> exotica::CollisionSceneFCLLatest::ConstructFclCollisionObject	(	long	i,
		std::shared_ptr< KinematicElement >	element
	)

private

◆ ContinuousCollisionCheck()

ContinuousCollisionProxy exotica::CollisionSceneFCLLatest::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
	)

overridevirtual

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 from exotica::CollisionScene.

◆ GetCollisionDistance() [1/5]

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

overridevirtual

Computes collision distances.

Parameters

self	Indicate if self collision check is required.

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

Reimplemented from exotica::CollisionScene.

◆ GetCollisionDistance() [2/5]

std::vector<CollisionProxy> exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self = `true`
	)

overridevirtual

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 from exotica::CollisionScene.

◆ GetCollisionDistance() [3/5]

std::vector<CollisionProxy> exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::string &	o1,
		const bool &	self = `true`,
		const bool &	disable_collision_scene_update = `false`
	)

overridevirtual

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 from exotica::CollisionScene.

◆ GetCollisionDistance() [4/5]

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

overridevirtual

Computes collision distances between two objects.

Parameters

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

Returns: Vector of proximity objects.

Reimplemented from exotica::CollisionScene.

◆ GetCollisionDistance() [5/5]

std::vector<CollisionProxy> exotica::CollisionSceneFCLLatest::GetCollisionDistance	(	const std::vector< std::string > &	objects,
		const bool &	self = `true`
	)

overridevirtual

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 from exotica::CollisionScene.

◆ GetCollisionObjectsFromMapByName()

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

◆ GetCollisionRobotLinks()

std::vector<std::string> exotica::CollisionSceneFCLLatest::GetCollisionRobotLinks ( )

overridevirtual

Gets the collision robot links.

Returns: The collision robot links.

Implements exotica::CollisionScene.

◆ GetCollisionWorldLinks()

std::vector<std::string> exotica::CollisionSceneFCLLatest::GetCollisionWorldLinks ( )

overridevirtual

Gets the collision world links.

Returns: The collision world links.

Implements exotica::CollisionScene.

◆ GetKinematicElementFromMapByName()

std::shared_ptr<KinematicElement> exotica::CollisionSceneFCLLatest::GetKinematicElementFromMapByName ( const std::string & frame_name )

inlineprivate

◆ GetRobotCollisionObjectsFromMapByName()

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetRobotCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

◆ GetRobotToRobotCollisionDistance()

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

overridevirtual

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 from exotica::CollisionScene.

◆ GetRobotToWorldCollisionDistance()

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

overridevirtual

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 from exotica::CollisionScene.

◆ GetTranslation()

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

overridevirtual

Returns the translation of the named collision object.

Parameters

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

Implements exotica::CollisionScene.

◆ GetWorldCollisionObjectsFromMapByName()

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::GetWorldCollisionObjectsFromMapByName ( const std::string & frame_name )

inlineprivate

◆ IsAllowedToCollide() [1/2]

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

overridevirtual

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 from exotica::CollisionScene.

◆ IsAllowedToCollide() [2/2]

static bool exotica::CollisionSceneFCLLatest::IsAllowedToCollide	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		bool	self,
		CollisionSceneFCLLatest *	scene
	)

static

◆ IsCollisionFree()

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

overridevirtual

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 from exotica::CollisionScene.

◆ IsStateValid()

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

overridevirtual

Check 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.

Implements exotica::CollisionScene.

◆ Setup()

void exotica::CollisionSceneFCLLatest::Setup ( )

overridevirtual

Setup additional construction that requires initialiser parameter.

Reimplemented from exotica::CollisionScene.

◆ UpdateCollisionObjects()

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

overridevirtual

Creates the collision scene from kinematic elements.

Parameters

objects Vector kinematic element pointers of collision objects.

Implements exotica::CollisionScene.

◆ UpdateCollisionObjectTransforms()

void exotica::CollisionSceneFCLLatest::UpdateCollisionObjectTransforms ( )

overridevirtual

Updates collision object transformations from the kinematic tree.

Implements exotica::CollisionScene.

Member Data Documentation

◆ broad_phase_collision_manager_

std::shared_ptr<fcl::BroadPhaseCollisionManagerd> exotica::CollisionSceneFCLLatest::broad_phase_collision_manager_

private

◆ fcl_cache_

std::vector<std::shared_ptr<fcl::CollisionObjectd> > exotica::CollisionSceneFCLLatest::fcl_cache_

private

◆ fcl_objects_

std::vector<fcl::CollisionObjectd*> exotica::CollisionSceneFCLLatest::fcl_objects_

private

◆ fcl_objects_map_

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_objects_map_

private

◆ fcl_robot_objects_map_

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_robot_objects_map_

private

◆ fcl_world_objects_map_

std::map<std::string, std::vector<fcl::CollisionObjectd*> > exotica::CollisionSceneFCLLatest::fcl_world_objects_map_

private

◆ kinematic_elements_

std::vector<std::weak_ptr<KinematicElement> > exotica::CollisionSceneFCLLatest::kinematic_elements_

private

◆ kinematic_elements_map_

std::map<std::string, std::weak_ptr<KinematicElement> > exotica::CollisionSceneFCLLatest::kinematic_elements_map_

private

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

/tmp/exotica/exotations/exotica_collision_scene_fcl_latest/include/exotica_collision_scene_fcl_latest/collision_scene_fcl_latest.h

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ CheckCollision()

◆ CollisionCallback()

◆ CollisionCallbackDistance()

◆ ComputeDistance()

◆ ConstructFclCollisionObject()

◆ ContinuousCollisionCheck()

◆ GetCollisionDistance() [1/5]

◆ GetCollisionDistance() [2/5]

◆ GetCollisionDistance() [3/5]

◆ GetCollisionDistance() [4/5]

◆ GetCollisionDistance() [5/5]

◆ GetCollisionObjectsFromMapByName()

◆ GetCollisionRobotLinks()

◆ GetCollisionWorldLinks()

◆ GetKinematicElementFromMapByName()

◆ GetRobotCollisionObjectsFromMapByName()

◆ GetRobotToRobotCollisionDistance()

◆ GetRobotToWorldCollisionDistance()

◆ GetTranslation()

◆ GetWorldCollisionObjectsFromMapByName()

◆ IsAllowedToCollide() [1/2]

◆ IsAllowedToCollide() [2/2]

◆ IsCollisionFree()

◆ IsStateValid()

◆ Setup()

◆ UpdateCollisionObjects()

◆ UpdateCollisionObjectTransforms()

Member Data Documentation

◆ broad_phase_collision_manager_

◆ fcl_cache_

◆ fcl_objects_

◆ fcl_objects_map_

◆ fcl_robot_objects_map_

◆ fcl_world_objects_map_

◆ kinematic_elements_

◆ kinematic_elements_map_