#include <collision_common_distance_field.h>
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string | group_name_ |
| moveit::core::RobotStatePtr | state_ |
| std::vector< unsigned int > | state_check_indices_ |
| std::vector< double > | state_values_ |
| collision_detection::AllowedCollisionMatrix | acm_ |
| distance_field::DistanceFieldPtr | distance_field_ |
| GroupStateRepresentationPtr | pregenerated_group_state_representation_ |
| std::vector< std::string > | link_names_ |
| std::vector< bool > | link_has_geometry_ |
| std::vector< unsigned int > | link_body_indices_ |
| std::vector< unsigned int > | link_state_indices_ |
| std::vector< std::string > | attached_body_names_ |
| std::vector< unsigned int > | attached_body_link_state_indices_ |
| std::vector< bool > | self_collision_enabled_ |
| std::vector< std::vector< bool > > | intra_group_collision_enabled_ |
Detailed Description
collision volume representation for a particular link group of a robot
This entry is specific to a particular robot model, a particular link group, a particular ACM, and a particular configuration of attached objects. It assumes the poses of joints above this group have not changed, but can be used with different poses of the joints within the group.
Definition at line 111 of file collision_common_distance_field.h.
Member Data Documentation
◆ acm_
| collision_detection::AllowedCollisionMatrix collision_detection::DistanceFieldCacheEntry::acm_ |
Definition at line 131 of file collision_common_distance_field.h.
◆ attached_body_link_state_indices_
| std::vector<unsigned int> collision_detection::DistanceFieldCacheEntry::attached_body_link_state_indices_ |
for each body in attached_body_names_, the index into the link state of the link the body is attached to.
Definition at line 157 of file collision_common_distance_field.h.
◆ attached_body_names_
| std::vector<std::string> collision_detection::DistanceFieldCacheEntry::attached_body_names_ |
list of all bodies attached to links in link_names_
Definition at line 154 of file collision_common_distance_field.h.
◆ distance_field_
| distance_field::DistanceFieldPtr collision_detection::DistanceFieldCacheEntry::distance_field_ |
the distance field describing all links of the robot that are not in the group and their attached bodies
Definition at line 134 of file collision_common_distance_field.h.
◆ group_name_
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string collision_detection::DistanceFieldCacheEntry::group_name_ |
for checking collisions between this group and other objects
Definition at line 116 of file collision_common_distance_field.h.
◆ intra_group_collision_enabled_
| std::vector<std::vector<bool> > collision_detection::DistanceFieldCacheEntry::intra_group_collision_enabled_ |
for each link in link_names_, a vector of bool indicating for each other object (where object could be another link or an attacjed object) whether to check for collisions between this link and that object. Size of inner and outer lists are the same and equal the sum of the size of link_names_ and attached_body_names_
Definition at line 166 of file collision_common_distance_field.h.
◆ link_body_indices_
| std::vector<unsigned int> collision_detection::DistanceFieldCacheEntry::link_body_indices_ |
for each link in link_names_, index into the CollisionRobotDistanceField::link_body_decomposition_vector_ vector. This is 0 (and invalid) for links with no geometry. The link_body_decomposition_vector_ contains the (unposed) spheres that make up the collision geometry for the link
Definition at line 149 of file collision_common_distance_field.h.
◆ link_has_geometry_
| std::vector<bool> collision_detection::DistanceFieldCacheEntry::link_has_geometry_ |
for each link in link_names_, true if the link has collision geometry
Definition at line 143 of file collision_common_distance_field.h.
◆ link_names_
| std::vector<std::string> collision_detection::DistanceFieldCacheEntry::link_names_ |
names of all links in the group and all links below the group (links that will move if any of the joints in the group move)
Definition at line 141 of file collision_common_distance_field.h.
◆ link_state_indices_
| std::vector<unsigned int> collision_detection::DistanceFieldCacheEntry::link_state_indices_ |
for each link in link_names_, index into the RobotState::link_state_vector_
Definition at line 152 of file collision_common_distance_field.h.
◆ pregenerated_group_state_representation_
| GroupStateRepresentationPtr collision_detection::DistanceFieldCacheEntry::pregenerated_group_state_representation_ |
this can be used as a starting point for creating a GroupStateRepresentation needed for collision checking
Definition at line 137 of file collision_common_distance_field.h.
◆ self_collision_enabled_
| std::vector<bool> collision_detection::DistanceFieldCacheEntry::self_collision_enabled_ |
for each link in link_names_ and for each body in attached_body_names_, true if this link should be checked for self collision
Definition at line 160 of file collision_common_distance_field.h.
◆ state_
| moveit::core::RobotStatePtr collision_detection::DistanceFieldCacheEntry::state_ |
RobotState that this cache entry represents
Definition at line 118 of file collision_common_distance_field.h.
◆ state_check_indices_
| std::vector<unsigned int> collision_detection::DistanceFieldCacheEntry::state_check_indices_ |
list of indices into the state_values_ vector. One index for each joint variable which is NOT in the group or a child of the group. In other words, variables which should not change if only joints in the group move.
Definition at line 123 of file collision_common_distance_field.h.
◆ state_values_
| std::vector<double> collision_detection::DistanceFieldCacheEntry::state_values_ |
all the joint variables from all the joints in the entire robot (whether in the group or not), excluding mimic joints. If 2 DistanceFieldCacheEntrys have identical state_values_ then they are equivalent (i.e. same robot state).
Definition at line 128 of file collision_common_distance_field.h.
The documentation for this struct was generated from the following file:
- moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_common_distance_field.h
