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The MoveIt Motion Planning Framework for ROS 2.
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collision_detection_bullet Namespace Reference

Classes

struct  ContactTestData
 Bundles the data for a collision query. More...
 
class  BulletBVHManager
 A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...
 
class  BulletCastBVHManager
 A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...
 
class  BulletDiscreteBVHManager
 A bounding volume hierarchy (BVH) implementation of a discrete bullet manager. More...
 
class  CollisionObjectWrapper
 Tesseract bullet collision object. More...
 
struct  CastHullShape
 Casted collision shape used for checking if an object is collision free between two discrete poses. More...
 
struct  BroadphaseContactResultCallback
 Callback structure for both discrete and continuous broadphase collision pair. More...
 
struct  TesseractBroadphaseBridgedManifoldResult
 
class  TesseractCollisionPairCallback
 A callback function that is called as part of the broadphase collision checking. More...
 
struct  BroadphaseFilterCallback
 

Typedefs

template<typename T >
using AlignedVector = std::vector< T, Eigen::aligned_allocator< T > >
 
template<typename Key , typename Value >
using AlignedMap = std::map< Key, Value, std::less< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>
 
template<typename Key , typename Value >
using AlignedUnorderedMap = std::unordered_map< Key, Value, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>
 

Enumerations

enum class  CollisionObjectType { USE_SHAPE_TYPE = 0 , CONVEX_HULL = 1 , MULTI_SPHERE = 2 , SDF = 3 }
 

Functions

 MOVEIT_CLASS_FORWARD (BulletBVHManager)
 
 MOVEIT_CLASS_FORWARD (BulletCastBVHManager)
 
 MOVEIT_CLASS_FORWARD (BulletDiscreteBVHManager)
 
 MOVEIT_CLASS_FORWARD (CollisionObjectWrapper)
 
bool acmCheck (const std::string &body_1, const std::string &body_2, const collision_detection::AllowedCollisionMatrix *acm)
 Allowed = true. More...
 
btVector3 convertEigenToBt (const Eigen::Vector3d &v)
 Converts eigen vector to bullet vector. More...
 
Eigen::Vector3d convertBtToEigen (const btVector3 &v)
 Converts bullet vector to eigen vector. More...
 
btQuaternion convertEigenToBt (const Eigen::Quaterniond &q)
 Converts eigen quaternion to bullet quaternion. More...
 
btMatrix3x3 convertEigenToBt (const Eigen::Matrix3d &r)
 Converts eigen matrix to bullet matrix. More...
 
btTransform convertEigenToBt (const Eigen::Isometry3d &t)
 Converts bullet transform to eigen transform. More...
 
void getAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, float &outsupport, btVector3 &outpt)
 Computes the local supporting vertex of a convex shape. More...
 
btScalar addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, const btCollisionObjectWrapper *colObj1Wrap, ContactTestData &collisions)
 Converts a bullet contact result to MoveIt format and adds it to the result data structure. More...
 
btScalar addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int, const btCollisionObjectWrapper *colObj1Wrap, int, ContactTestData &collisions)
 
bool isOnlyKinematic (const CollisionObjectWrapper *cow0, const CollisionObjectWrapper *cow1)
 Checks if the collision pair is kinematic vs kinematic objects. More...
 
btCollisionShape * createShapePrimitive (const shapes::ShapeConstPtr &geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
 Casts a geometric shape into a btCollisionShape. More...
 
void updateCollisionObjectFilters (const std::vector< std::string > &active, CollisionObjectWrapper &cow)
 Update a collision objects filters. More...
 
CollisionObjectWrapperPtr makeCastCollisionObject (const CollisionObjectWrapperPtr &cow)
 
void updateBroadphaseAABB (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
 Update the Broadphase AABB for the input collision object. More...
 
void removeCollisionObjectFromBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
 Remove the collision object from broadphase. More...
 
void addCollisionObjectToBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
 Add the collision object to broadphase. More...
 
std::pair< std::string, std::string > getObjectPairKey (const std::string &obj1, const std::string &obj2)
 Get a key for two object to search the collision matrix. More...
 
bool isLinkActive (const std::vector< std::string > &active, const std::string &name)
 This will check if a link is active provided a list. If the list is empty the link is considered active. More...
 
collision_detection::ContactprocessResult (ContactTestData &cdata, collision_detection::Contact &contact, const std::pair< std::string, std::string > &key, bool found)
 Stores a single contact result in the requested way. More...
 
int createConvexHull (AlignedVector< Eigen::Vector3d > &vertices, std::vector< int > &faces, const AlignedVector< Eigen::Vector3d > &input, double shrink=-1, double shrinkClamp=-1)
 Create a convex hull from vertices using Bullet Convex Hull Computer. More...
 
void getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const urdf::LinkConstSharedPtr &urdf_link, bool active)
 Recursively traverses robot from root to get all active links. More...
 
shapes::ShapePtr constructShape (const urdf::Geometry *geom)
 
Eigen::Isometry3d urdfPose2Eigen (const urdf::Pose &pose)
 
btCollisionShape * createShapePrimitive (const shapes::Box *geom, const CollisionObjectType &collision_object_type)
 
btCollisionShape * createShapePrimitive (const shapes::Sphere *geom, const CollisionObjectType &collision_object_type)
 
btCollisionShape * createShapePrimitive (const shapes::Cylinder *geom, const CollisionObjectType &collision_object_type)
 
btCollisionShape * createShapePrimitive (const shapes::Cone *geom, const CollisionObjectType &collision_object_type)
 
btCollisionShape * createShapePrimitive (const shapes::Mesh *geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
 
btCollisionShape * createShapePrimitive (const shapes::OcTree *geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
 

Variables

const btScalar BULLET_MARGIN = 0.0f
 
const btScalar BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS
 
const btScalar BULLET_LENGTH_TOLERANCE = 0.001f METERS
 
const btScalar BULLET_EPSILON = 1e-3f
 
const btScalar BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f
 
const bool BULLET_COMPOUND_USE_DYNAMIC_AABB = true
 

Typedef Documentation

◆ AlignedMap

template<typename Key , typename Value >
using collision_detection_bullet::AlignedMap = typedef std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 40 of file basic_types.h.

◆ AlignedUnorderedMap

template<typename Key , typename Value >
using collision_detection_bullet::AlignedUnorderedMap = typedef std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 43 of file basic_types.h.

◆ AlignedVector

template<typename T >
using collision_detection_bullet::AlignedVector = typedef std::vector<T, Eigen::aligned_allocator<T> >

Definition at line 37 of file basic_types.h.

Enumeration Type Documentation

◆ CollisionObjectType

Enumerator
USE_SHAPE_TYPE 

Infer the type from the type specified in the shapes::Shape class.

CONVEX_HULL 

Use the mesh in shapes::Shape but make it a convex hulls collision object (if not convex it will be converted)

MULTI_SPHERE 

Use the mesh and represent it by multiple spheres collision object.

SDF 

Use the mesh and rpresent it by a signed distance fields collision object.

Definition at line 46 of file basic_types.h.

Function Documentation

◆ acmCheck()

bool collision_detection_bullet::acmCheck ( const std::string &  body_1,
const std::string &  body_2,
const collision_detection::AllowedCollisionMatrix acm 
)

Allowed = true.

Definition at line 50 of file bullet_utils.cpp.

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◆ addCastSingleResult()

btScalar collision_detection_bullet::addCastSingleResult ( btManifoldPoint &  cp,
const btCollisionObjectWrapper *  colObj0Wrap,
int  ,
const btCollisionObjectWrapper *  colObj1Wrap,
int  ,
ContactTestData collisions 
)
inline

Definition at line 420 of file bullet_utils.h.

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◆ addCollisionObjectToBroadphase()

void collision_detection_bullet::addCollisionObjectToBroadphase ( const CollisionObjectWrapperPtr &  cow,
const std::unique_ptr< btBroadphaseInterface > &  broadphase,
const std::unique_ptr< btCollisionDispatcher > &  dispatcher 
)

Add the collision object to broadphase.

Parameters
cowThe collision objects
broadphaseThe bullet broadphase interface
dispatcherThe bullet collision dispatcher

Definition at line 387 of file bullet_utils.cpp.

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◆ addDiscreteSingleResult()

btScalar collision_detection_bullet::addDiscreteSingleResult ( btManifoldPoint &  cp,
const btCollisionObjectWrapper *  colObj0Wrap,
const btCollisionObjectWrapper *  colObj1Wrap,
ContactTestData collisions 
)
inline

Converts a bullet contact result to MoveIt format and adds it to the result data structure.

Definition at line 387 of file bullet_utils.h.

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◆ constructShape()

shapes::ShapePtr collision_detection_bullet::constructShape ( const urdf::Geometry *  geom)

Definition at line 67 of file ros_bullet_utils.cpp.

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◆ convertBtToEigen()

Eigen::Vector3d collision_detection_bullet::convertBtToEigen ( const btVector3 &  v)
inline

Converts bullet vector to eigen vector.

Definition at line 71 of file bullet_utils.h.

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◆ convertEigenToBt() [1/4]

btTransform collision_detection_bullet::convertEigenToBt ( const Eigen::Isometry3d &  t)
inline

Converts bullet transform to eigen transform.

Definition at line 92 of file bullet_utils.h.

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◆ convertEigenToBt() [2/4]

btMatrix3x3 collision_detection_bullet::convertEigenToBt ( const Eigen::Matrix3d &  r)
inline

Converts eigen matrix to bullet matrix.

Definition at line 84 of file bullet_utils.h.

◆ convertEigenToBt() [3/4]

btQuaternion collision_detection_bullet::convertEigenToBt ( const Eigen::Quaterniond &  q)
inline

Converts eigen quaternion to bullet quaternion.

Definition at line 77 of file bullet_utils.h.

◆ convertEigenToBt() [4/4]

btVector3 collision_detection_bullet::convertEigenToBt ( const Eigen::Vector3d &  v)
inline

Converts eigen vector to bullet vector.

Definition at line 65 of file bullet_utils.h.

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◆ createConvexHull()

int collision_detection_bullet::createConvexHull ( AlignedVector< Eigen::Vector3d > &  vertices,
std::vector< int > &  faces,
const AlignedVector< Eigen::Vector3d > &  input,
double  shrink = -1,
double  shrinkClamp = -1 
)

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters
(Output)vertices A vector of vertices
(Output)faces The first values indicates the number of vertices that define the face followed by the vertice index
(input)input A vector of point to create a convex hull from
(input)shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.
Returns
The number of faces. If less than zero an error occurred when trying to create the convex hull

Definition at line 124 of file contact_checker_common.cpp.

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◆ createShapePrimitive() [1/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::Box *  geom,
const CollisionObjectType collision_object_type 
)

Definition at line 86 of file bullet_utils.cpp.

◆ createShapePrimitive() [2/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::Cone *  geom,
const CollisionObjectType collision_object_type 
)

Definition at line 114 of file bullet_utils.cpp.

◆ createShapePrimitive() [3/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::Cylinder *  geom,
const CollisionObjectType collision_object_type 
)

Definition at line 105 of file bullet_utils.cpp.

◆ createShapePrimitive() [4/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::Mesh *  geom,
const CollisionObjectType collision_object_type,
CollisionObjectWrapper cow 
)

Definition at line 123 of file bullet_utils.cpp.

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◆ createShapePrimitive() [5/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::OcTree *  geom,
const CollisionObjectType collision_object_type,
CollisionObjectWrapper cow 
)

Definition at line 200 of file bullet_utils.cpp.

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◆ createShapePrimitive() [6/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive ( const shapes::ShapeConstPtr &  geom,
const CollisionObjectType collision_object_type,
CollisionObjectWrapper cow 
)

Casts a geometric shape into a btCollisionShape.

Definition at line 400 of file bullet_utils.cpp.

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◆ createShapePrimitive() [7/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive ( const shapes::Sphere *  geom,
const CollisionObjectType collision_object_type 
)

Definition at line 98 of file bullet_utils.cpp.

◆ getActiveLinkNamesRecursive()

void collision_detection_bullet::getActiveLinkNamesRecursive ( std::vector< std::string > &  active_links,
const urdf::LinkConstSharedPtr &  urdf_link,
bool  active 
)

Recursively traverses robot from root to get all active links.

Parameters
active_linksStores the active links
urdf_linkThe current urdf link representation
activeIndicates if link is considered active

Definition at line 43 of file ros_bullet_utils.cpp.

◆ getAverageSupport()

void collision_detection_bullet::getAverageSupport ( const btConvexShape *  shape,
const btVector3 &  localNormal,
float &  outsupport,
btVector3 &  outpt 
)
inline

Computes the local supporting vertex of a convex shape.

If multiple vertices with equal support products exists, their average is calculated and returned.

Parameters
shapeThe convex shape to check
localNormalThe support direction to search for in shape local coordinates
outsupportThe value of the calculated support mapping
outptThe computed support point

Definition at line 345 of file bullet_utils.h.

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◆ getObjectPairKey()

std::pair<std::string, std::string> collision_detection_bullet::getObjectPairKey ( const std::string &  obj1,
const std::string &  obj2 
)
inline

Get a key for two object to search the collision matrix.

Parameters
obj1First collision object name
obj2Second collision object name
Returns
The collision pair key

Definition at line 40 of file contact_checker_common.h.

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◆ isLinkActive()

bool collision_detection_bullet::isLinkActive ( const std::vector< std::string > &  active,
const std::string &  name 
)
inline

This will check if a link is active provided a list. If the list is empty the link is considered active.

Parameters
activeList of active link names
nameThe name of link to check if it is active.

Definition at line 50 of file contact_checker_common.h.

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◆ isOnlyKinematic()

bool collision_detection_bullet::isOnlyKinematic ( const CollisionObjectWrapper cow0,
const CollisionObjectWrapper cow1 
)
inline

Checks if the collision pair is kinematic vs kinematic objects.

Definition at line 521 of file bullet_utils.h.

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◆ makeCastCollisionObject()

CollisionObjectWrapperPtr collision_detection_bullet::makeCastCollisionObject ( const CollisionObjectWrapperPtr &  cow)

Definition at line 293 of file bullet_utils.cpp.

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◆ MOVEIT_CLASS_FORWARD() [1/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletBVHManager  )

◆ MOVEIT_CLASS_FORWARD() [2/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletCastBVHManager  )

◆ MOVEIT_CLASS_FORWARD() [3/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletDiscreteBVHManager  )

◆ MOVEIT_CLASS_FORWARD() [4/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( CollisionObjectWrapper  )

◆ processResult()

collision_detection::Contact * collision_detection_bullet::processResult ( ContactTestData cdata,
collision_detection::Contact contact,
const std::pair< std::string, std::string > &  key,
bool  found 
)

Stores a single contact result in the requested way.

Parameters
foundIndicates if a contact for this pair of objects has already been found
Returns
Pointer to the newly inserted contact

Definition at line 45 of file contact_checker_common.cpp.

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◆ removeCollisionObjectFromBroadphase()

void collision_detection_bullet::removeCollisionObjectFromBroadphase ( const CollisionObjectWrapperPtr &  cow,
const std::unique_ptr< btBroadphaseInterface > &  broadphase,
const std::unique_ptr< btCollisionDispatcher > &  dispatcher 
)
inline

Remove the collision object from broadphase.

Parameters
cowThe collision objects
broadphaseThe bullet broadphase interface
dispatcherThe bullet collision dispatcher

Definition at line 693 of file bullet_utils.h.

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◆ updateBroadphaseAABB()

void collision_detection_bullet::updateBroadphaseAABB ( const CollisionObjectWrapperPtr &  cow,
const std::unique_ptr< btBroadphaseInterface > &  broadphase,
const std::unique_ptr< btCollisionDispatcher > &  dispatcher 
)
inline

Update the Broadphase AABB for the input collision object.

Parameters
cowThe collision objects
broadphaseThe bullet broadphase interface
dispatcherThe bullet collision dispatcher

Definition at line 678 of file bullet_utils.h.

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◆ updateCollisionObjectFilters()

void collision_detection_bullet::updateCollisionObjectFilters ( const std::vector< std::string > &  active,
CollisionObjectWrapper cow 
)

Update a collision objects filters.

Parameters
activeA list of active collision objects
cowThe collision object to update.
continuousIndicate if the object is a continuous collision object.

Currently continuous collision objects can only be checked against static objects. Continuous to Continuous collision checking is currently not supports. TODO LEVI: Add support for Continuous to Continuous collision checking.

Definition at line 270 of file bullet_utils.cpp.

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◆ urdfPose2Eigen()

Eigen::Isometry3d collision_detection_bullet::urdfPose2Eigen ( const urdf::Pose &  pose)

Definition at line 104 of file ros_bullet_utils.cpp.

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Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

const bool collision_detection_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Definition at line 56 of file bullet_utils.h.

◆ BULLET_DEFAULT_CONTACT_DISTANCE

const btScalar collision_detection_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f

Definition at line 55 of file bullet_utils.h.

◆ BULLET_EPSILON

const btScalar collision_detection_bullet::BULLET_EPSILON = 1e-3f

Definition at line 54 of file bullet_utils.h.

◆ BULLET_LENGTH_TOLERANCE

const btScalar collision_detection_bullet::BULLET_LENGTH_TOLERANCE = 0.001f METERS

Definition at line 53 of file bullet_utils.h.

◆ BULLET_MARGIN

const btScalar collision_detection_bullet::BULLET_MARGIN = 0.0f

Definition at line 51 of file bullet_utils.h.

◆ BULLET_SUPPORT_FUNC_TOLERANCE

const btScalar collision_detection_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS

Definition at line 52 of file bullet_utils.h.