Namespaces
	AllowedCollision
	Any pair of bodies can have a collision state associated to it.

	BodyTypes
	The types of bodies that are considered for collision.

	DistanceRequestTypes

Classes
class	CollisionDetectorAllocatorAllValid
	An allocator for AllValid collision detectors. More...

class	CollisionEnvAllValid
	Collision environment which always just returns no collisions. More...

struct	Contact
	Definition of a contact point. More...

struct	CostSource
	When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...

struct	CollisionResult
	Representation of a collision checking result. More...

struct	CollisionRequest
	Representation of a collision checking request. More...

struct	DistanceRequest
	Representation of a distance-reporting request. More...

struct	DistanceResultsData
	Generic representation of the distance information for a pair of objects. More...

struct	DistanceResult
	Result of a distance request. More...

class	CollisionDetectorAllocator
	An allocator for a compatible CollisionWorld/CollisionRobot pair. More...

class	CollisionDetectorAllocatorTemplate
	Template class to make it easy to create an allocator for a specific CollisionWorld/CollisionRobot pair. More...

class	CollisionEnv
	Provides the interface to the individual collision checking libraries. More...

class	AllowedCollisionMatrix
	Definition of a structure for the allowed collision matrix. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not. More...

class	CollisionPlugin
	Plugin API for loading a custom collision detection robot/world. More...

class	CollisionPluginCache

class	OccMapTree

class	World
	Maintain a representation of the environment. More...

class	WorldDiff
	Maintain a diff list of changes that have happened to a World. More...

class	CollisionDetectorAllocatorBullet
	An allocator for Bullet collision detectors. More...

class	CollisionDetectorBtPluginLoader

class	CollisionEnvBullet
	More...

struct	CollisionGeometryData
	Wrapper around world, link and attached objects' geometry data. More...

struct	CollisionData
	Data structure which is passed to the collision callback function of the collision manager. More...

struct	DistanceData
	Data structure which is passed to the distance callback function of the collision manager. More...

struct	FCLGeometry
	Bundles the CollisionGeometryData and FCL collision geometry representation into a single class. More...

struct	FCLObject
	A general high-level object which consists of multiple FCLCollisionObjects. It is the top level data structure which is used in the collision checking process. More...

struct	FCLManager
	Bundles an FCLObject and a broadphase FCL collision manager. More...

class	CollisionDetectorAllocatorFCL
	An allocator for FCL collision detectors. More...

class	CollisionDetectorFCLPluginLoader

class	CollisionEnvFCL
	FCL implementation of the CollisionEnv. More...

struct	FCLShapeCache
	Cache for an arbitrary type of shape. It is assigned during the execution of createCollisionGeometry(). More...

struct	GroupStateRepresentation

struct	DistanceFieldCacheEntry

class	CollisionDetectorAllocatorDistanceField
	An allocator for Distance Field collision detectors. More...

class	CollisionDetectorAllocatorHybrid
	An allocator for Hybrid collision detectors. More...

struct	CollisionSphere

struct	GradientInfo

class	PosedDistanceField

class	BodyDecomposition

class	PosedBodySphereDecomposition

class	PosedBodyPointDecomposition

class	PosedBodySphereDecompositionVector

class	PosedBodyPointDecompositionVector

struct	ProximityInfo

class	CollisionEnvDistanceField

class	CollisionEnvHybrid
	This hybrid collision environment combines FCL and a distance field. Both can be used to calculate collisions. More...

struct	BodyDecompositionCache

class	CollisionRobotDistanceFieldROS

class	CollisionRobotHybridROS

class	CollisionPluginLoader

Typedefs
using	BodyType = BodyTypes::Type
	The types of bodies that are considered for collision. More...

using	DistanceRequestType = DistanceRequestTypes::DistanceRequestType

using	DistanceMap = std::map< const std::pair< std::string, std::string >, std::vector< DistanceResultsData > >
	Mapping between the names of the collision objects and the DistanceResultData. More...

using	DecideContactFn = std::function< bool(collision_detection::Contact &)>
	Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL) More...

typedef octomap::OcTreeNode	OccMapNode

using	OccMapTreePtr = std::shared_ptr< OccMapTree >

using	OccMapTreeConstPtr = std::shared_ptr< const OccMapTree >

typedef std::shared_ptr< fcl::CollisionObjectd >	FCLCollisionObjectPtr

typedef std::shared_ptr< const fcl::CollisionObjectd >	FCLCollisionObjectConstPtr

Enumerations
enum	CollisionType { NONE = 0 , SELF = 1 , INTRA = 2 , ENVIRONMENT = 3 }

Functions
	MOVEIT_CLASS_FORWARD (AllowedCollisionMatrix)

	MOVEIT_CLASS_FORWARD (CollisionDetectorAllocator)

	MOVEIT_CLASS_FORWARD (CollisionEnv)

int	refineContactNormals (const World::ObjectConstPtr &object, CollisionResult &res, double cell_bbx_search_distance=1.0, double allowed_angle_divergence=0.0, bool estimate_depth=false, double iso_value=0.5, double metaball_radius_multiple=1.5)
	Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point. More...

	MOVEIT_CLASS_FORWARD (CollisionPlugin)

void	getCollisionMarkersFromContacts (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::msg::ColorRGBA &color, const rclcpp::Duration &lifetime, const double radius=0.035)

void	getCollisionMarkersFromContacts (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)

void	getCostMarkers (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)

void	getCostMarkers (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::msg::ColorRGBA &color, const rclcpp::Duration &lifetime)

double	getTotalCost (const std::set< CostSource > &cost_sources)

void	removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)

void	intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)

void	removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)

bool	getSensorPositioning (geometry_msgs::msg::Point &point, const std::set< CostSource > &cost_sources)

void	costSourceToMsg (const CostSource &cost_source, moveit_msgs::msg::CostSource &msg)

void	contactToMsg (const Contact &contact, moveit_msgs::msg::ContactInformation &msg)

	MOVEIT_CLASS_FORWARD (World)

	MOVEIT_CLASS_FORWARD (WorldDiff)

	MOVEIT_STRUCT_FORWARD (CollisionGeometryData)

	MOVEIT_STRUCT_FORWARD (FCLGeometry)

bool	collisionCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data)
	Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information. More...

bool	distanceCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data, double &min_dist)
	Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::LinkModel *link, int shape_index)
	Create new FCLGeometry object out of robot link model. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::AttachedBody *ab, int shape_index)
	Create new FCLGeometry object out of attached body. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
	Create new FCLGeometry object out of a world object. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::LinkModel *link, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of robot link model. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::AttachedBody *ab, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of an attached body. More...

FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
	Create new scaled and / or padded FCLGeometry object out of an world object. More...

void	cleanCollisionGeometryCache ()
	Increases the counter of the caches which can trigger the cleaning of expired entries from them. More...

void	transform2fcl (const Eigen::Isometry3d &b, fcl::Transform3d &f)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...

fcl::Transform3d	transform2fcl (const Eigen::Isometry3d &b)
	Transforms an Eigen Isometry3d to FCL coordinate transformation. More...

void	fcl2contact (const fcl::Contactd &fc, Contact &c)
	Transforms an FCL contact into a MoveIt contact point. More...

void	fcl2costsource (const fcl::CostSourced &fcs, CostSource &cs)
	Transforms the FCL internal representation to the MoveIt CostSource data structure. More...

template<typename BV , typename T >
FCLShapeCache &	GetShapeCache ()

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). More...

template<typename BV , typename T >
FCLGeometryConstPtr	createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling. More...

	MOVEIT_STRUCT_FORWARD (GroupStateRepresentation)

	MOVEIT_STRUCT_FORWARD (DistanceFieldCacheEntry)

BodyDecompositionConstPtr	getBodyDecompositionCacheEntry (const shapes::ShapeConstPtr &shape, double resolution)

PosedBodyPointDecompositionVectorPtr	getCollisionObjectPointDecomposition (const collision_detection::World::Object &obj, double resolution)

PosedBodySphereDecompositionVectorPtr	getAttachedBodySphereDecomposition (const moveit::core::AttachedBody *att, double resolution)

PosedBodyPointDecompositionVectorPtr	getAttachedBodyPointDecomposition (const moveit::core::AttachedBody *att, double resolution)

void	getBodySphereVisualizationMarkers (const GroupStateRepresentationPtr &gsr, const std::string &reference_frame, visualization_msgs::msg::MarkerArray &body_marker_array)

	MOVEIT_CLASS_FORWARD (PosedDistanceField)

	MOVEIT_CLASS_FORWARD (BodyDecomposition)

	MOVEIT_CLASS_FORWARD (PosedBodySphereDecomposition)

	MOVEIT_CLASS_FORWARD (PosedBodyPointDecomposition)

	MOVEIT_CLASS_FORWARD (PosedBodySphereDecompositionVector)

	MOVEIT_CLASS_FORWARD (PosedBodyPointDecompositionVector)

std::vector< CollisionSphere >	determineCollisionSpheres (const bodies::Body *body, Eigen::Isometry3d &relativeTransform)

bool	getCollisionSphereGradients (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, GradientInfo &gradient, const CollisionType &type, double tolerance, bool subtract_radii, double maximum_value, bool stop_at_first_collision)

bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance)

bool	getCollisionSphereCollision (const distance_field::DistanceField *distance_field, const std::vector< CollisionSphere > &sphere_list, const EigenSTL::vector_Vector3d &sphere_centers, double maximum_value, double tolerance, unsigned int num_coll, std::vector< unsigned int > &colls)

bool	doBoundingSpheresIntersect (const PosedBodySphereDecompositionConstPtr &p1, const PosedBodySphereDecompositionConstPtr &p2)

void	getCollisionSphereMarkers (const std_msgs::msg::ColorRGBA &color, const std::string &frame_id, const std::string &ns, const rclcpp::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, visualization_msgs::msg::MarkerArray &arr)

void	getProximityGradientMarkers (const std::string &frame_id, const std::string &ns, const rclcpp::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::msg::MarkerArray &arr)

void	getCollisionMarkers (const std::string &frame_id, const std::string &ns, const rclcpp::Duration &dur, const std::vector< PosedBodySphereDecompositionPtr > &posed_decompositions, const std::vector< PosedBodySphereDecompositionVectorPtr > &posed_vector_decompositions, const std::vector< GradientInfo > &gradients, visualization_msgs::msg::MarkerArray &arr)

	MOVEIT_CLASS_FORWARD (CollisionEnvDistanceField)

BodyDecompositionCache &	getBodyDecompositionCache ()

void	getBodySphereVisualizationMarkers (const GroupStateRepresentationConstPtr &gsr, const std::string &reference_frame, visualization_msgs::msg::MarkerArray &body_marker_array)

Variables
const double	MAX_DISTANCE_MARGIN = 99

const double	EPSILON = 0.001f

Detailed Description

Author: E. Gil Jones

Typedef Documentation

◆ BodyType

using collision_detection::BodyType = typedef BodyTypes::Type

The types of bodies that are considered for collision.

Definition at line 70 of file collision_common.h.

◆ DecideContactFn

using collision_detection::DecideContactFn = typedef std::function<bool(collision_detection::Contact&)>

Signature of predicate that decides whether a contact is allowed or not (when AllowedCollision::Type is CONDITIONAL)

Definition at line 71 of file collision_matrix.h.

◆ DistanceMap

using collision_detection::DistanceMap = typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> >

Mapping between the names of the collision objects and the DistanceResultData.

Definition at line 358 of file collision_common.h.

◆ DistanceRequestType

using collision_detection::DistanceRequestType = typedef DistanceRequestTypes::DistanceRequestType

Definition at line 239 of file collision_common.h.

◆ FCLCollisionObjectConstPtr

typedef std::shared_ptr<const fcl::CollisionObjectd> collision_detection::FCLCollisionObjectConstPtr

Definition at line 251 of file collision_common.h.

◆ FCLCollisionObjectPtr

typedef std::shared_ptr<fcl::CollisionObjectd> collision_detection::FCLCollisionObjectPtr

Definition at line 250 of file collision_common.h.

◆ OccMapNode

typedef octomap::OcTreeNode collision_detection::OccMapNode

Definition at line 49 of file occupancy_map.h.

◆ OccMapTreeConstPtr

using collision_detection::OccMapTreeConstPtr = typedef std::shared_ptr<const OccMapTree>

Definition at line 119 of file occupancy_map.h.

◆ OccMapTreePtr

using collision_detection::OccMapTreePtr = typedef std::shared_ptr<OccMapTree>

Definition at line 118 of file occupancy_map.h.

Enumeration Type Documentation

◆ CollisionType

enum collision_detection::CollisionType

Enumerator
NONE
SELF
INTRA
ENVIRONMENT

Definition at line 62 of file collision_distance_field_types.h.

Function Documentation

◆ cleanCollisionGeometryCache()

void collision_detection::cleanCollisionGeometryCache ( )

Increases the counter of the caches which can trigger the cleaning of expired entries from them.

Definition at line 922 of file collision_common.cpp.

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◆ collisionCallback()

bool collision_detection::collisionCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data
	)

Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information.

Parameters

o1	First FCL collision object
o2	Second FCL collision object \data General pointer to arbitrary data which is used during the callback

Returns: True terminates the collision check, false continues it to the next pair of objects

Definition at line 61 of file collision_common.cpp.

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◆ contactToMsg()

void collision_detection::contactToMsg	(	const Contact &	contact,
		moveit_msgs::msg::ContactInformation &	msg
	)

Definition at line 276 of file collision_tools.cpp.

◆ costSourceToMsg()

void collision_detection::costSourceToMsg	(	const CostSource &	cost_source,
		moveit_msgs::msg::CostSource &	msg
	)

Definition at line 265 of file collision_tools.cpp.

◆ createCollisionGeometry() [1/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const moveit::core::AttachedBody *	ab,
		int	shape_index
	)

Create new FCLGeometry object out of attached body.

Definition at line 876 of file collision_common.cpp.

◆ createCollisionGeometry() [2/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const moveit::core::LinkModel *	link,
		int	shape_index
	)

Create new FCLGeometry object out of robot link model.

Definition at line 870 of file collision_common.cpp.

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◆ createCollisionGeometry() [3/8]

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const T *	data,
		int	shape_index
	)

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV).

It assigns a thread-local cache for each type of shape and minimizes memory usage and copying through utilizing the cache.

Definition at line 692 of file collision_common.cpp.

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◆ createCollisionGeometry() [4/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		const World::Object *	obj
	)

Create new FCLGeometry object out of a world object.

A world object always consists only of a single shape, therefore we don't need the shape_index.

Definition at line 882 of file collision_common.cpp.

◆ createCollisionGeometry() [5/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const moveit::core::AttachedBody *	ab,
		int	shape_index
	)

Create new scaled and / or padded FCLGeometry object out of an attached body.

Definition at line 910 of file collision_common.cpp.

◆ createCollisionGeometry() [6/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const moveit::core::LinkModel *	link,
		int	shape_index
	)

Create new scaled and / or padded FCLGeometry object out of robot link model.

Definition at line 904 of file collision_common.cpp.

◆ createCollisionGeometry() [7/8]

template<typename BV , typename T >

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const T *	data,
		int	shape_index
	)

Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling.

Definition at line 890 of file collision_common.cpp.

◆ createCollisionGeometry() [8/8]

FCLGeometryConstPtr collision_detection::createCollisionGeometry	(	const shapes::ShapeConstPtr &	shape,
		double	scale,
		double	padding,
		const World::Object *	obj
	)

Create new scaled and / or padded FCLGeometry object out of an world object.

Definition at line 916 of file collision_common.cpp.

◆ determineCollisionSpheres()

std::vector< CollisionSphere > collision_detection::determineCollisionSpheres	(	const bodies::Body *	body,
		Eigen::Isometry3d &	relativeTransform
	)

Definition at line 53 of file collision_distance_field_types.cpp.

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◆ distanceCallback()

bool collision_detection::distanceCallback	(	fcl::CollisionObjectd *	o1,
		fcl::CollisionObjectd *	o2,
		void *	data,
		double &	min_dist
	)

Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances.

Parameters

o1	First FCL collision object
o2	Second FCL collision object \data General pointer to arbitrary data which is used during the callback

Returns: True terminates the distance check, false continues it to the next pair of objects

Definition at line 412 of file collision_common.cpp.

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◆ doBoundingSpheresIntersect()

bool collision_detection::doBoundingSpheresIntersect	(	const PosedBodySphereDecompositionConstPtr &	p1,
		const PosedBodySphereDecompositionConstPtr &	p2
	)

Definition at line 402 of file collision_distance_field_types.cpp.

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◆ fcl2contact()

void collision_detection::fcl2contact	(	const fcl::Contactd &	fc,
		Contact &	c
	)

inline

Transforms an FCL contact into a MoveIt contact point.

Definition at line 342 of file collision_common.h.

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◆ fcl2costsource()

void collision_detection::fcl2costsource	(	const fcl::CostSourced &	fcs,
		CostSource &	cs
	)

inline

Transforms the FCL internal representation to the MoveIt CostSource data structure.

Definition at line 356 of file collision_common.h.

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◆ getAttachedBodyPointDecomposition()

PosedBodyPointDecompositionVectorPtr collision_detection::getAttachedBodyPointDecomposition	(	const moveit::core::AttachedBody *	att,
		double	resolution
	)

Definition at line 122 of file collision_common_distance_field.cpp.

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◆ getAttachedBodySphereDecomposition()

PosedBodySphereDecompositionVectorPtr collision_detection::getAttachedBodySphereDecomposition	(	const moveit::core::AttachedBody *	att,
		double	resolution
	)

Definition at line 108 of file collision_common_distance_field.cpp.

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◆ getBodyDecompositionCache()

BodyDecompositionCache& collision_detection::getBodyDecompositionCache ( )

Definition at line 64 of file collision_common_distance_field.cpp.

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◆ getBodyDecompositionCacheEntry()

BodyDecompositionConstPtr collision_detection::getBodyDecompositionCacheEntry	(	const shapes::ShapeConstPtr &	shape,
		double	resolution
	)

Definition at line 70 of file collision_common_distance_field.cpp.

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◆ getBodySphereVisualizationMarkers() [1/2]

void collision_detection::getBodySphereVisualizationMarkers	(	const GroupStateRepresentationConstPtr &	gsr,
		const std::string &	reference_frame,
		visualization_msgs::msg::MarkerArray &	body_marker_array
	)

Definition at line 136 of file collision_common_distance_field.cpp.

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◆ getBodySphereVisualizationMarkers() [2/2]

void collision_detection::getBodySphereVisualizationMarkers	(	const GroupStateRepresentationPtr &	gsr,
		const std::string &	reference_frame,
		visualization_msgs::msg::MarkerArray &	body_marker_array
	)

◆ getCollisionMarkers()

void collision_detection::getCollisionMarkers	(	const std::string &	frame_id,
		const std::string &	ns,
		const rclcpp::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		const std::vector< PosedBodySphereDecompositionVectorPtr > &	posed_vector_decompositions,
		const std::vector< GradientInfo > &	gradients,
		visualization_msgs::msg::MarkerArray &	arr
	)

Definition at line 545 of file collision_distance_field_types.cpp.

◆ getCollisionMarkersFromContacts() [1/2]

void collision_detection::getCollisionMarkersFromContacts	(	visualization_msgs::msg::MarkerArray &	arr,
		const std::string &	frame_id,
		const CollisionResult::ContactMap &	con
	)

Definition at line 55 of file collision_tools.cpp.

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◆ getCollisionMarkersFromContacts() [2/2]

void collision_detection::getCollisionMarkersFromContacts	(	visualization_msgs::msg::MarkerArray &	arr,
		const std::string &	frame_id,
		const CollisionResult::ContactMap &	con,
		const std_msgs::msg::ColorRGBA &	color,
		const rclcpp::Duration &	lifetime,
		const double	radius = `0.035`
	)

Definition at line 98 of file collision_tools.cpp.

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◆ getCollisionObjectPointDecomposition()

PosedBodyPointDecompositionVectorPtr collision_detection::getCollisionObjectPointDecomposition	(	const collision_detection::World::Object &	obj,
		double	resolution
	)

Definition at line 94 of file collision_common_distance_field.cpp.

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◆ getCollisionSphereCollision() [1/2]

bool collision_detection::getCollisionSphereCollision	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		double	maximum_value,
		double	tolerance
	)

Definition at line 205 of file collision_distance_field_types.cpp.

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◆ getCollisionSphereCollision() [2/2]

bool collision_detection::getCollisionSphereCollision	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		double	maximum_value,
		double	tolerance,
		unsigned int	num_coll,
		std::vector< unsigned int > &	colls
	)

Definition at line 232 of file collision_distance_field_types.cpp.

◆ getCollisionSphereGradients()

bool collision_detection::getCollisionSphereGradients	(	const distance_field::DistanceField *	distance_field,
		const std::vector< CollisionSphere > &	sphere_list,
		const EigenSTL::vector_Vector3d &	sphere_centers,
		GradientInfo &	gradient,
		const CollisionType &	type,
		double	tolerance,
		bool	subtract_radii,
		double	maximum_value,
		bool	stop_at_first_collision
	)

Definition at line 144 of file collision_distance_field_types.cpp.

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◆ getCollisionSphereMarkers()

void collision_detection::getCollisionSphereMarkers	(	const std_msgs::msg::ColorRGBA &	color,
		const std::string &	frame_id,
		const std::string &	ns,
		const rclcpp::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		visualization_msgs::msg::MarkerArray &	arr
	)

Definition at line 414 of file collision_distance_field_types.cpp.

◆ getCostMarkers() [1/2]

void collision_detection::getCostMarkers	(	visualization_msgs::msg::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources
	)

Todo:: add a class for managing cost sources

Definition at line 44 of file collision_tools.cpp.

◆ getCostMarkers() [2/2]

void collision_detection::getCostMarkers	(	visualization_msgs::msg::MarkerArray &	arr,
		const std::string &	frame_id,
		std::set< CostSource > &	cost_sources,
		const std_msgs::msg::ColorRGBA &	color,
		const rclcpp::Duration &	lifetime
	)

Definition at line 66 of file collision_tools.cpp.

◆ getProximityGradientMarkers()

void collision_detection::getProximityGradientMarkers	(	const std::string &	frame_id,
		const std::string &	ns,
		const rclcpp::Duration &	dur,
		const std::vector< PosedBodySphereDecompositionPtr > &	posed_decompositions,
		const std::vector< PosedBodySphereDecompositionVectorPtr > &	posed_vector_decompositions,
		const std::vector< GradientInfo > &	gradients,
		visualization_msgs::msg::MarkerArray &	arr
	)

Definition at line 445 of file collision_distance_field_types.cpp.

◆ getSensorPositioning()

bool collision_detection::getSensorPositioning	(	geometry_msgs::msg::Point &	point,
		const std::set< CostSource > &	cost_sources
	)

Definition at line 138 of file collision_tools.cpp.

◆ GetShapeCache()

template<typename BV , typename T >

FCLShapeCache& collision_detection::GetShapeCache ( )

Definition at line 671 of file collision_common.cpp.

◆ getTotalCost()

double collision_detection::getTotalCost ( const std::set< CostSource > & cost_sources )

Definition at line 151 of file collision_tools.cpp.

◆ intersectCostSources()

void collision_detection::intersectCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	a,
		const std::set< CostSource > &	b
	)

Definition at line 159 of file collision_tools.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/13]

collision_detection::MOVEIT_CLASS_FORWARD ( AllowedCollisionMatrix )

◆ MOVEIT_CLASS_FORWARD() [2/13]

collision_detection::MOVEIT_CLASS_FORWARD ( BodyDecomposition )

◆ MOVEIT_CLASS_FORWARD() [3/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionDetectorAllocator )

◆ MOVEIT_CLASS_FORWARD() [4/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnv )

◆ MOVEIT_CLASS_FORWARD() [5/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionEnvDistanceField )

◆ MOVEIT_CLASS_FORWARD() [6/13]

collision_detection::MOVEIT_CLASS_FORWARD ( CollisionPlugin )

◆ MOVEIT_CLASS_FORWARD() [7/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodyPointDecomposition )

◆ MOVEIT_CLASS_FORWARD() [8/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodyPointDecompositionVector )

◆ MOVEIT_CLASS_FORWARD() [9/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodySphereDecomposition )

◆ MOVEIT_CLASS_FORWARD() [10/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedBodySphereDecompositionVector )

◆ MOVEIT_CLASS_FORWARD() [11/13]

collision_detection::MOVEIT_CLASS_FORWARD ( PosedDistanceField )

◆ MOVEIT_CLASS_FORWARD() [12/13]

collision_detection::MOVEIT_CLASS_FORWARD ( World )

◆ MOVEIT_CLASS_FORWARD() [13/13]

collision_detection::MOVEIT_CLASS_FORWARD ( WorldDiff )

◆ MOVEIT_STRUCT_FORWARD() [1/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( CollisionGeometryData )

◆ MOVEIT_STRUCT_FORWARD() [2/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( DistanceFieldCacheEntry )

◆ MOVEIT_STRUCT_FORWARD() [3/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( FCLGeometry )

◆ MOVEIT_STRUCT_FORWARD() [4/4]

collision_detection::MOVEIT_STRUCT_FORWARD ( GroupStateRepresentation )

◆ refineContactNormals()

int collision_detection::refineContactNormals	(	const World::ObjectConstPtr &	object,
		CollisionResult &	res,
		double	cell_bbx_search_distance = `1.0`,
		double	allowed_angle_divergence = `0.0`,
		bool	estimate_depth = `false`,
		double	iso_value = `0.5`,
		double	metaball_radius_multiple = `1.5`
	)

Re-proceses contact normals for an octomap by estimating a metaball iso-surface using the centers of occupied cells in a neighborhood of the contact point.

This is an implementation of the algorithm described in: A. Leeper, S. Chan, K. Salisbury. Point Clouds Can Be Represented as Implicit Surfaces for Constraint-Based Haptic Rendering. ICRA, May 2012, St Paul, MN. http://adamleeper.com/research/papers/2012_ICRA_leeper-chan-salisbury.pdf

Parameters

The	octomap originally used for collision detection.
The	collision result (which will get its normals updated)
The	distance, as a multiple of the octomap cell size, from which to include neighboring cells.
The	minimum angle change required for a normal to be over-written
Whether	to request a depth estimate from the algorithm (experimental...)
The	iso-surface threshold value (0.5 is a reasonable default).
The	metaball radius, as a multiple of the octomap cell size (1.5 is a reasonable default)

Definition at line 62 of file collision_octomap_filter.cpp.

◆ removeCostSources()

void collision_detection::removeCostSources	(	std::set< CostSource > &	cost_sources,
		const std::set< CostSource > &	cost_sources_to_remove,
		double	overlap_fraction
	)

Definition at line 212 of file collision_tools.cpp.

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◆ removeOverlapping()

void collision_detection::removeOverlapping	(	std::set< CostSource > &	cost_sources,
		double	overlap_fraction
	)

Definition at line 182 of file collision_tools.cpp.

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◆ transform2fcl() [1/2]

fcl::Transform3d collision_detection::transform2fcl ( const Eigen::Isometry3d & b )

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 334 of file collision_common.h.

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◆ transform2fcl() [2/2]

void collision_detection::transform2fcl	(	const Eigen::Isometry3d &	b,
		fcl::Transform3d &	f
	)

inline

Transforms an Eigen Isometry3d to FCL coordinate transformation.

Definition at line 321 of file collision_common.h.

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Variable Documentation

◆ EPSILON

const double collision_detection::EPSILON = 0.001f

Definition at line 56 of file collision_env_distance_field.cpp.

◆ MAX_DISTANCE_MARGIN

const double collision_detection::MAX_DISTANCE_MARGIN = 99

Definition at line 50 of file collision_env_bullet.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ BodyType

◆ DecideContactFn

◆ DistanceMap

◆ DistanceRequestType

◆ FCLCollisionObjectConstPtr

◆ FCLCollisionObjectPtr

◆ OccMapNode

◆ OccMapTreeConstPtr

◆ OccMapTreePtr

Enumeration Type Documentation

◆ CollisionType

Function Documentation

◆ cleanCollisionGeometryCache()

◆ collisionCallback()

◆ contactToMsg()

◆ costSourceToMsg()

◆ createCollisionGeometry() [1/8]

◆ createCollisionGeometry() [2/8]

◆ createCollisionGeometry() [3/8]

◆ createCollisionGeometry() [4/8]

◆ createCollisionGeometry() [5/8]

◆ createCollisionGeometry() [6/8]

◆ createCollisionGeometry() [7/8]

◆ createCollisionGeometry() [8/8]

◆ determineCollisionSpheres()

◆ distanceCallback()

◆ doBoundingSpheresIntersect()

◆ fcl2contact()

◆ fcl2costsource()

◆ getAttachedBodyPointDecomposition()

◆ getAttachedBodySphereDecomposition()

◆ getBodyDecompositionCache()

◆ getBodyDecompositionCacheEntry()

◆ getBodySphereVisualizationMarkers() [1/2]

◆ getBodySphereVisualizationMarkers() [2/2]

◆ getCollisionMarkers()

◆ getCollisionMarkersFromContacts() [1/2]

◆ getCollisionMarkersFromContacts() [2/2]

◆ getCollisionObjectPointDecomposition()

◆ getCollisionSphereCollision() [1/2]

◆ getCollisionSphereCollision() [2/2]

◆ getCollisionSphereGradients()

◆ getCollisionSphereMarkers()

◆ getCostMarkers() [1/2]

◆ getCostMarkers() [2/2]

◆ getProximityGradientMarkers()

◆ getSensorPositioning()

◆ GetShapeCache()

◆ getTotalCost()

◆ intersectCostSources()

◆ MOVEIT_CLASS_FORWARD() [1/13]

◆ MOVEIT_CLASS_FORWARD() [2/13]

◆ MOVEIT_CLASS_FORWARD() [3/13]

◆ MOVEIT_CLASS_FORWARD() [4/13]

◆ MOVEIT_CLASS_FORWARD() [5/13]

◆ MOVEIT_CLASS_FORWARD() [6/13]

◆ MOVEIT_CLASS_FORWARD() [7/13]

◆ MOVEIT_CLASS_FORWARD() [8/13]

◆ MOVEIT_CLASS_FORWARD() [9/13]

◆ MOVEIT_CLASS_FORWARD() [10/13]

◆ MOVEIT_CLASS_FORWARD() [11/13]

◆ MOVEIT_CLASS_FORWARD() [12/13]

◆ MOVEIT_CLASS_FORWARD() [13/13]

◆ MOVEIT_STRUCT_FORWARD() [1/4]

◆ MOVEIT_STRUCT_FORWARD() [2/4]

◆ MOVEIT_STRUCT_FORWARD() [3/4]

◆ MOVEIT_STRUCT_FORWARD() [4/4]

◆ refineContactNormals()

◆ removeCostSources()

◆ removeOverlapping()

◆ transform2fcl() [1/2]

◆ transform2fcl() [2/2]