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...

#include <collision_matrix.h>

Public Member Functions
	AllowedCollisionMatrix ()

	AllowedCollisionMatrix (const std::vector< std::string > &names, bool allowed=false)
	Instantiate using a vector of names (corresponding to all the elements in the collision world).

	AllowedCollisionMatrix (const srdf::Model &srdf)
	Construct from an SRDF representation.

	AllowedCollisionMatrix (const moveit_msgs::msg::AllowedCollisionMatrix &msg)
	Construct the structure from a message representation.

	AllowedCollisionMatrix (const AllowedCollisionMatrix &acm)=default
	Copy constructor.

AllowedCollisionMatrix &	operator= (const AllowedCollisionMatrix &)=default
	Copy assignment.

bool	getEntry (const std::string &name1, const std::string &name2, AllowedCollision::Type &allowed_collision_type) const
	Get the type of the allowed collision between two elements. Return true if the entry is included in the collision matrix. Return false if the entry is not found.

bool	getEntry (const std::string &name1, const std::string &name2, DecideContactFn &fn) const
	Get the allowed collision predicate between two elements. Return true if a predicate for this entry is available in the collision matrix. Return false if the entry is not found.

bool	hasEntry (const std::string &name) const
	Check if the allowed collision matrix has an entry at all for an element. Returns true if the element is included.

bool	hasEntry (const std::string &name1, const std::string &name2) const
	Check if the allowed collision matrix has an entry for a pair of elements. Returns true if the pair is included.

void	removeEntry (const std::string &name1, const std::string &name2)
	Remove an entry corresponding to a pair of elements. Nothing happens if the pair does not exist in the collision matrix.

void	removeEntry (const std::string &name)
	Remove all entries corresponding to a name (all pairs that include this name)

void	setEntry (const std::string &name1, const std::string &name2, bool allowed)
	Set an entry corresponding to a pair of elements.

void	setEntry (const std::string &name1, const std::string &name2, DecideContactFn &fn)
	Set an entry corresponding to a pair of elements.

void	setEntry (const std::string &name, bool allowed)
	Set the entries corresponding to a name. With each of the known names in the collision matrix, form a pair using the name specified as argument to this function and set the entry as indicated by allowed. As the set of known names might change in future, consider using setDefaultEntry() instead!

void	setEntry (const std::string &name, const std::vector< std::string > &other_names, bool allowed)
	Set multiple entries. Pairs of names are formed using name and other_names.

void	setEntry (const std::vector< std::string > &names1, const std::vector< std::string > &names2, bool allowed)
	Set an entry corresponding to all possible pairs between two sets of elements.

void	setEntry (bool allowed)
	Set an entry corresponding to all known pairs.

void	getAllEntryNames (std::vector< std::string > &names) const
	Get all the names known to the collision matrix.

void	getMessage (moveit_msgs::msg::AllowedCollisionMatrix &msg) const
	Get the allowed collision matrix as a message.

void	clear ()
	Clear the allowed collision matrix.

std::size_t	getSize () const
	Get the size of the allowed collision matrix (number of specified entries)

void	setDefaultEntry (const std::string &name, bool allowed)
	Set the default value for entries that include name but are not set explicitly with setEntry().

void	setDefaultEntry (const std::string &name, DecideContactFn &fn)
	Set the default value for entries that include name but are not set explicitly with setEntry().

bool	getDefaultEntry (const std::string &name, AllowedCollision::Type &allowed_collision) const
	Get the type of the allowed collision to be considered by default for an element. Return true if a default value was found for the specified element. Return false otherwise.

bool	getDefaultEntry (const std::string &name, DecideContactFn &fn) const
	Get the type of the allowed collision between to be considered by default for an element. Return true if a default value was found for the specified element. Return false otherwise.

bool	getAllowedCollision (const std::string &name1, const std::string &name2, DecideContactFn &fn) const
	Get the allowed collision predicate between two elements. Return true if a predicate for entry is included in the collision matrix (if the type is AllowedCollision::CONDITIONAL) or if one was computed from defaults. Return false if the entry is not found.

bool	getAllowedCollision (const std::string &name1, const std::string &name2, AllowedCollision::Type &allowed_collision) const
	Get the type of the allowed collision between two elements. Return true if the entry is included in the collision matrix or if specified defaults were found. Return false if the entry is not found.

void	print (std::ostream &out) const
	Print the allowed collision matrix.

Detailed Description

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.

Definition at line 79 of file collision_matrix.h.

Constructor & Destructor Documentation

◆ AllowedCollisionMatrix() [1/5]

collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix ( )

Definition at line 54 of file collision_matrix.cpp.

◆ AllowedCollisionMatrix() [2/5]

collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix	(	const std::vector< std::string > &	names,
		bool	allowed = `false`
	)

Instantiate using a vector of names (corresponding to all the elements in the collision world).

Parameters

names	a vector of names (corresponding to object IDs in the collision world).
allowed	If false, indicates that collisions between all elements must be checked for and no collisions will be ignored.

Definition at line 58 of file collision_matrix.cpp.

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◆ AllowedCollisionMatrix() [3/5]

collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix ( const srdf::Model & srdf )

Construct from an SRDF representation.

Definition at line 67 of file collision_matrix.cpp.

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◆ AllowedCollisionMatrix() [4/5]

collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix ( const moveit_msgs::msg::AllowedCollisionMatrix & msg )

Construct the structure from a message representation.

Definition at line 80 of file collision_matrix.cpp.

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◆ AllowedCollisionMatrix() [5/5]

collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix ( const AllowedCollisionMatrix & acm )

default

Copy constructor.

Member Function Documentation

◆ clear()

void collision_detection::AllowedCollisionMatrix::clear ( )

Clear the allowed collision matrix.

Definition at line 372 of file collision_matrix.cpp.

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◆ getAllEntryNames()

void collision_detection::AllowedCollisionMatrix::getAllEntryNames ( std::vector< std::string > & names ) const

Get all the names known to the collision matrix.

Definition at line 380 of file collision_matrix.cpp.

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◆ getAllowedCollision() [1/2]

bool collision_detection::AllowedCollisionMatrix::getAllowedCollision	(	const std::string &	name1,
		const std::string &	name2,
		AllowedCollision::Type &	allowed_collision
	)		const

Get the type of the allowed collision between two elements. Return true if the entry is included in the collision matrix or if specified defaults were found. Return false if the entry is not found.

Parameters

name1	name of first element
name2	name of second element
allowed_collision	The allowed collision type will be filled here

Definition at line 366 of file collision_matrix.cpp.

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◆ getAllowedCollision() [2/2]

bool collision_detection::AllowedCollisionMatrix::getAllowedCollision	(	const std::string &	name1,
		const std::string &	name2,
		DecideContactFn &	fn
	)		const

Get the allowed collision predicate between two elements. Return true if a predicate for entry is included in the collision matrix (if the type is AllowedCollision::CONDITIONAL) or if one was computed from defaults. Return false if the entry is not found.

Parameters

name1	name of first element
name2	name of second element
fn	Return the callback function that is used to decide if collisions are allowed between the two elements.

Definition at line 301 of file collision_matrix.cpp.

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◆ getDefaultEntry() [1/2]

bool collision_detection::AllowedCollisionMatrix::getDefaultEntry	(	const std::string &	name,
		AllowedCollision::Type &	allowed_collision
	)		const

Get the type of the allowed collision to be considered by default for an element. Return true if a default value was found for the specified element. Return false otherwise.

Parameters

name	name of the element
allowed_collision	The default allowed collision type will be filled here

Definition at line 278 of file collision_matrix.cpp.

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◆ getDefaultEntry() [2/2]

bool collision_detection::AllowedCollisionMatrix::getDefaultEntry	(	const std::string &	name,
		DecideContactFn &	fn
	)		const

Get the type of the allowed collision between to be considered by default for an element. Return true if a default value was found for the specified element. Return false otherwise.

Parameters

name	name of the element
fn	Return the callback function that is used to decide if collisions are allowed between the two elements.

Definition at line 287 of file collision_matrix.cpp.

◆ getEntry() [1/2]

bool collision_detection::AllowedCollisionMatrix::getEntry	(	const std::string &	name1,
		const std::string &	name2,
		AllowedCollision::Type &	allowed_collision_type
	)		const

Get the type of the allowed collision between two elements. Return true if the entry is included in the collision matrix. Return false if the entry is not found.

Parameters

name1	name of first element
name2	name of second element
allowed_collision_type	The allowed collision type will be filled here

Definition at line 127 of file collision_matrix.cpp.

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◆ getEntry() [2/2]

bool collision_detection::AllowedCollisionMatrix::getEntry	(	const std::string &	name1,
		const std::string &	name2,
		DecideContactFn &	fn
	)		const

Get the allowed collision predicate between two elements. Return true if a predicate for this entry is available in the collision matrix. Return false if the entry is not found.

Parameters

name1	name of first element
name2	name of second element
fn	A callback function that is used to decide if collisions are allowed between the two elements is filled here

Definition at line 115 of file collision_matrix.cpp.

◆ getMessage()

void collision_detection::AllowedCollisionMatrix::getMessage ( moveit_msgs::msg::AllowedCollisionMatrix & msg ) const

Get the allowed collision matrix as a message.

Definition at line 394 of file collision_matrix.cpp.

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◆ getSize()

std::size_t collision_detection::AllowedCollisionMatrix::getSize ( ) const

inline

Get the size of the allowed collision matrix (number of specified entries)

Definition at line 199 of file collision_matrix.h.

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◆ hasEntry() [1/2]

bool collision_detection::AllowedCollisionMatrix::hasEntry ( const std::string & name ) const

Check if the allowed collision matrix has an entry at all for an element. Returns true if the element is included.

Parameters

name	name of the element

Definition at line 140 of file collision_matrix.cpp.

◆ hasEntry() [2/2]

bool collision_detection::AllowedCollisionMatrix::hasEntry	(	const std::string &	name1,
		const std::string &	name2
	)		const

Check if the allowed collision matrix has an entry for a pair of elements. Returns true if the pair is included.

Parameters

name1	name of first element
name2	name of second element

Definition at line 145 of file collision_matrix.cpp.

◆ operator=()

AllowedCollisionMatrix & collision_detection::AllowedCollisionMatrix::operator= ( const AllowedCollisionMatrix & )

default

Copy assignment.

◆ print()

void collision_detection::AllowedCollisionMatrix::print ( std::ostream & out ) const

Print the allowed collision matrix.

Definition at line 428 of file collision_matrix.cpp.

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◆ removeEntry() [1/2]

void collision_detection::AllowedCollisionMatrix::removeEntry ( const std::string & name )

Remove all entries corresponding to a name (all pairs that include this name)

Parameters

name namespace

Definition at line 182 of file collision_matrix.cpp.

◆ removeEntry() [2/2]

void collision_detection::AllowedCollisionMatrix::removeEntry	(	const std::string &	name1,
		const std::string &	name2
	)

Remove an entry corresponding to a pair of elements. Nothing happens if the pair does not exist in the collision matrix.

Parameters

name1	name of first element
name2	name of second element

Definition at line 192 of file collision_matrix.cpp.

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◆ setDefaultEntry() [1/2]

void collision_detection::AllowedCollisionMatrix::setDefaultEntry	(	const std::string &	name,
		bool	allowed
	)

Set the default value for entries that include name but are not set explicitly with setEntry().

Parameters

name	The name of the element for which to set the default value
allowed	If false, indicates that collisions between name and any other element must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between name and any other element are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 265 of file collision_matrix.cpp.

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◆ setDefaultEntry() [2/2]

void collision_detection::AllowedCollisionMatrix::setDefaultEntry	(	const std::string &	name,
		DecideContactFn &	fn
	)

Set the default value for entries that include name but are not set explicitly with setEntry().

Parameters

name	The name of the element for which to set the default value
fn	A callback function that is used to decide if collisions are allowed between name and some other element is expected here.

Definition at line 272 of file collision_matrix.cpp.

◆ setEntry() [1/6]

void collision_detection::AllowedCollisionMatrix::setEntry ( bool allowed )

Set an entry corresponding to all known pairs.

Parameters

allowed If false, indicates that collisions between two elements must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between two elements are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 255 of file collision_matrix.cpp.

◆ setEntry() [2/6]

void collision_detection::AllowedCollisionMatrix::setEntry	(	const std::string &	name,
		bool	allowed
	)

Set the entries corresponding to a name. With each of the known names in the collision matrix, form a pair using the name specified as argument to this function and set the entry as indicated by allowed. As the set of known names might change in future, consider using setDefaultEntry() instead!

Parameters

name	the object name
allowed	If false, indicates that collisions between two elements must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between two elements are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 242 of file collision_matrix.cpp.

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◆ setEntry() [3/6]

void collision_detection::AllowedCollisionMatrix::setEntry	(	const std::string &	name,
		const std::vector< std::string > &	other_names,
		bool	allowed
	)

Set multiple entries. Pairs of names are formed using name and other_names.

Parameters

name	name of first element
other_names	names of all other elements to pair with first element. The collision matrix entries will be set for all such pairs.
allowed	If false, indicates that collisions between two elements must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between two elements are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 225 of file collision_matrix.cpp.

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◆ setEntry() [4/6]

void collision_detection::AllowedCollisionMatrix::setEntry	(	const std::string &	name1,
		const std::string &	name2,
		bool	allowed
	)

Set an entry corresponding to a pair of elements.

Parameters

name1	name of first element
name2	name of second element
allowed	If false, indicates that collisions between two elements must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between two elements are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 154 of file collision_matrix.cpp.

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◆ setEntry() [5/6]

void collision_detection::AllowedCollisionMatrix::setEntry	(	const std::string &	name1,
		const std::string &	name2,
		DecideContactFn &	fn
	)

Set an entry corresponding to a pair of elements.

This sets the type of the entry to AllowedCollision::CONDITIONAL.

Parameters

name1	name of first element
name2	name of second element
fn	A callback function that is used to decide if collisions are allowed between the two elements

Definition at line 176 of file collision_matrix.cpp.

◆ setEntry() [6/6]

void collision_detection::AllowedCollisionMatrix::setEntry	(	const std::vector< std::string > &	names1,
		const std::vector< std::string > &	names2,
		bool	allowed
	)

Set an entry corresponding to all possible pairs between two sets of elements.

Parameters

names1	First set of names
names2	Second set of names
allowed	If false, indicates that collisions between two elements must be checked for and no collisions will be ignored (AllowedCollision::NEVER). If true, indicates that collisions between two elements are ok and an explicit collision computation is not necessary (AllowedCollision::ALWAYS).

Definition at line 235 of file collision_matrix.cpp.

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

moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h
moveit_core/collision_detection/src/collision_matrix.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AllowedCollisionMatrix() [1/5]

◆ AllowedCollisionMatrix() [2/5]

◆ AllowedCollisionMatrix() [3/5]

◆ AllowedCollisionMatrix() [4/5]

◆ AllowedCollisionMatrix() [5/5]

Member Function Documentation

◆ clear()

◆ getAllEntryNames()

◆ getAllowedCollision() [1/2]

◆ getAllowedCollision() [2/2]

◆ getDefaultEntry() [1/2]

◆ getDefaultEntry() [2/2]

◆ getEntry() [1/2]

◆ getEntry() [2/2]

◆ getMessage()

◆ getSize()

◆ hasEntry() [1/2]

◆ hasEntry() [2/2]

◆ operator=()

◆ print()

◆ removeEntry() [1/2]

◆ removeEntry() [2/2]

◆ setDefaultEntry() [1/2]

◆ setDefaultEntry() [2/2]

◆ setEntry() [1/6]

◆ setEntry() [2/6]

◆ setEntry() [3/6]

◆ setEntry() [4/6]

◆ setEntry() [5/6]

◆ setEntry() [6/6]