moveit2
The MoveIt Motion Planning Framework for ROS 2.
bullet_bvh_manager.h
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31 
32 /* Authors: Levi Armstrong, Jens Petit */
33 
34 #pragma once
35 
38 
40 {
42 
45 {
46 public:
48 
51 
52  virtual ~BulletBVHManager();
53 
57  BulletBVHManagerPtr clone() const;
58 
62  bool hasCollisionObject(const std::string& name) const;
63 
67  bool removeCollisionObject(const std::string& name);
68 
72  bool enableCollisionObject(const std::string& name);
73 
77  bool disableCollisionObject(const std::string& name);
78 
82  void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);
83 
86  void setActiveCollisionObjects(const std::vector<std::string>& names);
87 
90  const std::vector<std::string>& getActiveCollisionObjects() const;
91 
96  void setContactDistanceThreshold(double contact_distance);
97 
100  double getContactDistanceThreshold() const;
101 
109  const collision_detection::AllowedCollisionMatrix* acm, bool self) = 0;
110 
128  virtual void addCollisionObject(const CollisionObjectWrapperPtr& cow) = 0;
129 
130  const std::map<std::string, CollisionObjectWrapperPtr>& getCollisionObjects() const;
131 
132 protected:
134  std::map<std::string, CollisionObjectWrapperPtr> link2cow_;
135 
137  std::vector<std::string> active_;
138 
141 
143  std::unique_ptr<btCollisionDispatcher> dispatcher_;
144 
146  btDispatcherInfo dispatch_info_;
147 
149  btDefaultCollisionConfiguration coll_config_;
150 
152  std::unique_ptr<btBroadphaseInterface> broadphase_;
153 
156 };
157 } // namespace collision_detection_bullet
ROS/KDL based interface for the inverse kinematics of the PR2 arm.
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
A bounding volume hierarchy (BVH) implementation of a tesseract contact manager.
bool hasCollisionObject(const std::string &name) const
Find if a collision object already exists.
std::vector< std::string > active_
A list of the active collision links.
std::unique_ptr< btBroadphaseInterface > broadphase_
The bullet broadphase interface.
double contact_distance_
The contact distance threshold.
BroadphaseFilterCallback filter_callback_
Callback function for culling objects before a broadphase check.
const std::vector< std::string > & getActiveCollisionObjects() const
Get which collision objects are active.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW BulletBVHManager()
Constructor.
std::map< std::string, CollisionObjectWrapperPtr > link2cow_
A map of collision objects being managed.
btDispatcherInfo dispatch_info_
The bullet collision dispatcher configuration information.
bool removeCollisionObject(const std::string &name)
Remove an object from the checker.
void setCollisionObjectsTransform(const std::string &name, const Eigen::Isometry3d &pose)
Set a single static collision object's tansform.
void setContactDistanceThreshold(double contact_distance)
Set the contact distance threshold for which collision should be considered through expanding the AAB...
btDefaultCollisionConfiguration coll_config_
The bullet collision configuration.
std::unique_ptr< btCollisionDispatcher > dispatcher_
The bullet collision dispatcher used for getting object to object collision algorithm.
virtual void addCollisionObject(const CollisionObjectWrapperPtr &cow)=0
Add a collision object to the checker.
bool disableCollisionObject(const std::string &name)
Disable an object.
bool enableCollisionObject(const std::string &name)
Enable an object.
void setActiveCollisionObjects(const std::vector< std::string > &names)
Set which collision objects are active.
double getContactDistanceThreshold() const
Get the contact distance threshold.
BulletBVHManagerPtr clone() const
Clone the manager.
virtual void contactTest(collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self)=0
Perform a contact test for all objects.
const std::map< std::string, CollisionObjectWrapperPtr > & getCollisionObjects() const
MOVEIT_CLASS_FORWARD(BulletBVHManager)
name
Definition: setup.py:7
Representation of a collision checking request.
Representation of a collision checking result.