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

#include <collision_env.h>

Inheritance diagram for collision_detection::CollisionEnv:

[legend]

Public Types
using	ObjectPtr = World::ObjectPtr

using	ObjectConstPtr = World::ObjectConstPtr

Public Member Functions
	CollisionEnv ()=delete

	CollisionEnv (const moveit::core::RobotModelConstPtr &model, double padding=0.0, double scale=1.0)
	Constructor.

	CollisionEnv (const moveit::core::RobotModelConstPtr &model, const WorldPtr &world, double padding=0.0, double scale=1.0)
	Constructor.

	CollisionEnv (const CollisionEnv &other, const WorldPtr &world)
	Copy constructor.

virtual	~CollisionEnv ()

virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const =0
	Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored.

virtual void	checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const
	Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored.

virtual void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const
	Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account.

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const =0
	Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const =0
	Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const AllowedCollisionMatrix &acm) const =0
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2) const =0
	Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

virtual void	distanceSelf (const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const =0
	The distance to self-collision given the robot is at state state.

double	distanceSelf (const moveit::core::RobotState &state) const
	The distance to self-collision given the robot is at state state.

double	distanceSelf (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const
	The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)

virtual void	distanceRobot (const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const =0
	Compute the distance between a robot and the world.

double	distanceRobot (const moveit::core::RobotState &state, bool verbose=false) const
	Compute the shortest distance between a robot and the world.

double	distanceRobot (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
	Compute the shortest distance between a robot and the world.

virtual void	setWorld (const WorldPtr &world)

const WorldPtr &	getWorld ()

const WorldConstPtr &	getWorld () const

const moveit::core::RobotModelConstPtr &	getRobotModel () const
	The kinematic model corresponding to this collision model.

void	setLinkPadding (const std::string &link_name, double padding)
	Set the link padding for a particular link.

double	getLinkPadding (const std::string &link_name) const
	Get the link padding for a particular link.

void	setLinkPadding (const std::map< std::string, double > &padding)
	Set the link paddings using a map (from link names to padding value)

const std::map< std::string, double > &	getLinkPadding () const
	Get the link paddings as a map (from link names to padding value)

void	setLinkScale (const std::string &link_name, double scale)
	Set the scaling for a particular link.

double	getLinkScale (const std::string &link_name) const
	Set the scaling for a particular link.

void	setLinkScale (const std::map< std::string, double > &scale)
	Set the link scaling using a map (from link names to scale value)

const std::map< std::string, double > &	getLinkScale () const
	Get the link scaling as a map (from link names to scale value)

void	setPadding (double padding)
	Set the link padding (for every link)

void	setScale (double scale)
	Set the link scaling (for every link)

void	setPadding (const std::vector< moveit_msgs::msg::LinkPadding > &padding)
	Set the link padding from a vector of messages.

void	getPadding (std::vector< moveit_msgs::msg::LinkPadding > &padding) const
	Get the link padding as a vector of messages.

void	setScale (const std::vector< moveit_msgs::msg::LinkScale > &scale)
	Set the link scaling from a vector of messages.

void	getScale (std::vector< moveit_msgs::msg::LinkScale > &scale) const
	Get the link scaling as a vector of messages.

Protected Member Functions
virtual void	updatedPaddingOrScaling (const std::vector< std::string > &links)
	When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.

Protected Attributes
moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model corresponding to this collision model.

std::map< std::string, double >	link_padding_
	The internally maintained map (from link names to padding)

std::map< std::string, double >	link_scale_
	The internally maintained map (from link names to scaling)

Detailed Description

Provides the interface to the individual collision checking libraries.

Definition at line 51 of file collision_env.h.

Member Typedef Documentation

◆ ObjectConstPtr

using collision_detection::CollisionEnv::ObjectConstPtr = World::ObjectConstPtr

Definition at line 252 of file collision_env.h.

◆ ObjectPtr

using collision_detection::CollisionEnv::ObjectPtr = World::ObjectPtr

Definition at line 251 of file collision_env.h.

Constructor & Destructor Documentation

◆ CollisionEnv() [1/4]

collision_detection::CollisionEnv::CollisionEnv ( )

delete

◆ CollisionEnv() [2/4]

collision_detection::CollisionEnv::CollisionEnv	(	const moveit::core::RobotModelConstPtr &	model,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Constructor.

Parameters

model	A robot model to construct the collision robot from
padding	The padding to use for all objects/links on the robot @scale scale A common scaling to use for all objects/links on the robot

Definition at line 83 of file collision_env.cpp.

◆ CollisionEnv() [3/4]

collision_detection::CollisionEnv::CollisionEnv	(	const moveit::core::RobotModelConstPtr &	model,
		const WorldPtr &	world,
		double	padding = `0.0`,
		double	scale = `1.0`
	)

Constructor.

Parameters

model	A robot model to construct the collision robot from
padding	The padding to use for all objects/links on the robot @scale scale A common scaling to use for all objects/links on the robot

Definition at line 99 of file collision_env.cpp.

◆ CollisionEnv() [4/4]

collision_detection::CollisionEnv::CollisionEnv	(	const CollisionEnv &	other,
		const WorldPtr &	world
	)

Copy constructor.

Definition at line 116 of file collision_env.cpp.

◆ ~CollisionEnv()

virtual collision_detection::CollisionEnv::~CollisionEnv ( )

inlinevirtual

Definition at line 74 of file collision_env.h.

Member Function Documentation

◆ checkCollision() [1/2]

void collision_detection::CollisionEnv::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state
	)		const

virtual

Check whether the robot model is in collision with itself or the world at a particular state. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Reimplemented in collision_detection::CollisionEnvDistanceField.

Definition at line 310 of file collision_env.cpp.

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◆ checkCollision() [2/2]

void collision_detection::CollisionEnv::checkCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Check whether the robot model is in collision with itself or the world at a particular state. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Reimplemented in collision_detection::CollisionEnvDistanceField.

Definition at line 318 of file collision_env.cpp.

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◆ checkRobotCollision() [1/4]

virtual void collision_detection::CollisionEnv::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state
	)		const

pure virtual

Check whether the robot model is in collision with the world. Any collisions between a robot link and the world are considered. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result @robot robot The collision model for the robot
state	The kinematic state for which checks are being made

Implemented in collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, collision_detection::CollisionEnvFCL, and collision_detection::CollisionEnvDistanceField.

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◆ checkRobotCollision() [2/4]

virtual void collision_detection::CollisionEnv::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

pure virtual

Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result @robot robot The collision model for the robot
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, collision_detection::CollisionEnvFCL, and collision_detection::CollisionEnvDistanceField.

◆ checkRobotCollision() [3/4]

virtual void collision_detection::CollisionEnv::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2
	)		const

pure virtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result @robot robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, collision_detection::CollisionEnvFCL, and collision_detection::CollisionEnvDistanceField.

◆ checkRobotCollision() [4/4]

virtual void collision_detection::CollisionEnv::checkRobotCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const AllowedCollisionMatrix &	acm
	)		const

pure virtual

Check whether the robot model is in collision with the world in a continuous manner (between two robot states). Allowed collisions are ignored. Self collisions are not checked.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result @robot robot The collision model for the robot
state1	The kinematic state at the start of the segment for which checks are being made
state2	The kinematic state at the end of the segment for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, collision_detection::CollisionEnvFCL, and collision_detection::CollisionEnvDistanceField.

◆ checkSelfCollision() [1/2]

virtual void collision_detection::CollisionEnv::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state
	)		const

pure virtual

Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made

Implemented in collision_detection::CollisionEnvDistanceField, collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, and collision_detection::CollisionEnvFCL.

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◆ checkSelfCollision() [2/2]

virtual void collision_detection::CollisionEnv::checkSelfCollision	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

pure virtual

Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.

Parameters

req	A CollisionRequest object that encapsulates the collision request
res	A CollisionResult object that encapsulates the collision result
state	The kinematic state for which checks are being made
acm	The allowed collision matrix.

Implemented in collision_detection::CollisionEnvDistanceField, collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, and collision_detection::CollisionEnvFCL.

◆ distanceRobot() [1/3]

virtual void collision_detection::CollisionEnv::distanceRobot	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const moveit::core::RobotState &	state
	)		const

pure virtual

Compute the distance between a robot and the world.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
robot	The robot to check distance for
state	The state for the robot to check distances from

Implemented in collision_detection::CollisionEnvDistanceField, collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, and collision_detection::CollisionEnvFCL.

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◆ distanceRobot() [2/3]

double collision_detection::CollisionEnv::distanceRobot	(	const moveit::core::RobotState &	state,
		bool	verbose = `false`
	)		const

inline

Compute the shortest distance between a robot and the world.

Parameters

robot	The robot to check distance for
state	The state for the robot to check distances from
verbose	Output debug information about distance checks

Definition at line 202 of file collision_env.h.

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◆ distanceRobot() [3/3]

double collision_detection::CollisionEnv::distanceRobot	(	const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm,
		bool	verbose = `false`
	)		const

inline

Compute the shortest distance between a robot and the world.

Parameters

robot	The robot to check distance for
state	The state for the robot to check distances from
acm	Using an allowed collision matrix has the effect of ignoring distances from links that are always allowed to be in collision.
verbose	Output debug information about distance checks

Definition at line 220 of file collision_env.h.

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◆ distanceSelf() [1/3]

virtual void collision_detection::CollisionEnv::distanceSelf	(	const DistanceRequest &	req,
		DistanceResult &	res,
		const moveit::core::RobotState &	state
	)		const

pure virtual

The distance to self-collision given the robot is at state state.

Parameters

req	A DistanceRequest object that encapsulates the distance request
res	A DistanceResult object that encapsulates the distance result
state	The state of this robot to consider

Implemented in collision_detection::CollisionEnvDistanceField, collision_detection::CollisionEnvAllValid, collision_detection::CollisionEnvBullet, and collision_detection::CollisionEnvFCL.

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◆ distanceSelf() [2/3]

double collision_detection::CollisionEnv::distanceSelf ( const moveit::core::RobotState & state ) const

inline

The distance to self-collision given the robot is at state state.

Definition at line 167 of file collision_env.h.

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◆ distanceSelf() [3/3]

double collision_detection::CollisionEnv::distanceSelf	(	const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

inline

The distance to self-collision given the robot is at state state, ignoring the distances between links that are allowed to always collide (as specified by acm)

Definition at line 179 of file collision_env.h.

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◆ getLinkPadding() [1/2]

const std::map< std::string, double > & collision_detection::CollisionEnv::getLinkPadding ( ) const

Get the link paddings as a map (from link names to padding value)

Definition at line 194 of file collision_env.cpp.

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◆ getLinkPadding() [2/2]

double collision_detection::CollisionEnv::getLinkPadding ( const std::string & link_name ) const

Get the link padding for a particular link.

Definition at line 166 of file collision_env.cpp.

◆ getLinkScale() [1/2]

const std::map< std::string, double > & collision_detection::CollisionEnv::getLinkScale ( ) const

Get the link scaling as a map (from link names to scale value)

Definition at line 238 of file collision_env.cpp.

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◆ getLinkScale() [2/2]

double collision_detection::CollisionEnv::getLinkScale ( const std::string & link_name ) const

Set the scaling for a particular link.

Definition at line 211 of file collision_env.cpp.

◆ getPadding()

void collision_detection::CollisionEnv::getPadding ( std::vector< moveit_msgs::msg::LinkPadding > & padding ) const

Get the link padding as a vector of messages.

Definition at line 273 of file collision_env.cpp.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr & collision_detection::CollisionEnv::getRobotModel ( ) const

inline

The kinematic model corresponding to this collision model.

Definition at line 255 of file collision_env.h.

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◆ getScale()

void collision_detection::CollisionEnv::getScale ( std::vector< moveit_msgs::msg::LinkScale > & scale ) const

Get the link scaling as a vector of messages.

Definition at line 285 of file collision_env.cpp.

◆ getWorld() [1/2]

const WorldPtr & collision_detection::CollisionEnv::getWorld ( )

inline

access the world geometry

Definition at line 240 of file collision_env.h.

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◆ getWorld() [2/2]

const WorldConstPtr & collision_detection::CollisionEnv::getWorld ( ) const

inline

access the world geometry

Definition at line 246 of file collision_env.h.

◆ setLinkPadding() [1/2]

void collision_detection::CollisionEnv::setLinkPadding ( const std::map< std::string, double > & padding )

Set the link paddings using a map (from link names to padding value)

Definition at line 179 of file collision_env.cpp.

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◆ setLinkPadding() [2/2]

void collision_detection::CollisionEnv::setLinkPadding	(	const std::string &	link_name,
		double	padding
	)

Set the link padding for a particular link.

Parameters

link_name	The link name to set padding for
padding	The padding to set (in meters)

Definition at line 154 of file collision_env.cpp.

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◆ setLinkScale() [1/2]

void collision_detection::CollisionEnv::setLinkScale ( const std::map< std::string, double > & scale )

Set the link scaling using a map (from link names to scale value)

Definition at line 224 of file collision_env.cpp.

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◆ setLinkScale() [2/2]

void collision_detection::CollisionEnv::setLinkScale	(	const std::string &	link_name,
		double	scale
	)

Set the scaling for a particular link.

Definition at line 199 of file collision_env.cpp.

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◆ setPadding() [1/2]

void collision_detection::CollisionEnv::setPadding ( const std::vector< moveit_msgs::msg::LinkPadding > & padding )

Set the link padding from a vector of messages.

Definition at line 243 of file collision_env.cpp.

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◆ setPadding() [2/2]

void collision_detection::CollisionEnv::setPadding ( double padding )

Set the link padding (for every link)

Definition at line 122 of file collision_env.cpp.

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◆ setScale() [1/2]

void collision_detection::CollisionEnv::setScale ( const std::vector< moveit_msgs::msg::LinkScale > & scale )

Set the link scaling from a vector of messages.

Definition at line 258 of file collision_env.cpp.

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◆ setScale() [2/2]

void collision_detection::CollisionEnv::setScale ( double scale )

Set the link scaling (for every link)

Definition at line 138 of file collision_env.cpp.

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◆ setWorld()

void collision_detection::CollisionEnv::setWorld ( const WorldPtr & world )

virtual

set the world to use. This can be expensive unless the new and old world are empty. Passing nullptr will result in a new empty world being created.

Reimplemented in collision_detection::CollisionEnvBullet, collision_detection::CollisionEnvFCL, collision_detection::CollisionEnvDistanceField, and collision_detection::CollisionEnvHybrid.

Definition at line 301 of file collision_env.cpp.

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◆ updatedPaddingOrScaling()

void collision_detection::CollisionEnv::updatedPaddingOrScaling ( const std::vector< std::string > & links )

protectedvirtual

When the scale or padding is changed for a set of links by any of the functions in this class, updatedPaddingOrScaling() function is called. This function has an empty default implementation. The intention is to override this function in a derived class to allow for updating additional structures that may need such updating when link scale or padding changes.

Parameters

links the names of the links whose padding or scaling were updated

Reimplemented in collision_detection::CollisionEnvDistanceField, collision_detection::CollisionEnvBullet, and collision_detection::CollisionEnvFCL.

Definition at line 297 of file collision_env.cpp.

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Member Data Documentation

◆ link_padding_

std::map<std::string, double> collision_detection::CollisionEnv::link_padding_

protected

The internally maintained map (from link names to padding)

Definition at line 318 of file collision_env.h.

◆ link_scale_

std::map<std::string, double> collision_detection::CollisionEnv::link_scale_

protected

The internally maintained map (from link names to scaling)

Definition at line 321 of file collision_env.h.

◆ robot_model_

moveit::core::RobotModelConstPtr collision_detection::CollisionEnv::robot_model_

protected

The kinematic model corresponding to this collision model.

Definition at line 315 of file collision_env.h.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ObjectConstPtr

◆ ObjectPtr

Constructor & Destructor Documentation

◆ CollisionEnv() [1/4]

◆ CollisionEnv() [2/4]

◆ CollisionEnv() [3/4]

◆ CollisionEnv() [4/4]

◆ ~CollisionEnv()

Member Function Documentation

◆ checkCollision() [1/2]

◆ checkCollision() [2/2]

◆ checkRobotCollision() [1/4]

◆ checkRobotCollision() [2/4]

◆ checkRobotCollision() [3/4]

◆ checkRobotCollision() [4/4]

◆ checkSelfCollision() [1/2]

◆ checkSelfCollision() [2/2]

◆ distanceRobot() [1/3]

◆ distanceRobot() [2/3]

◆ distanceRobot() [3/3]

◆ distanceSelf() [1/3]

◆ distanceSelf() [2/3]

◆ distanceSelf() [3/3]

◆ getLinkPadding() [1/2]

◆ getLinkPadding() [2/2]

◆ getLinkScale() [1/2]

◆ getLinkScale() [2/2]

◆ getPadding()

◆ getRobotModel()

◆ getScale()

◆ getWorld() [1/2]

◆ getWorld() [2/2]

◆ setLinkPadding() [1/2]

◆ setLinkPadding() [2/2]

◆ setLinkScale() [1/2]

◆ setLinkScale() [2/2]

◆ setPadding() [1/2]

◆ setPadding() [2/2]

◆ setScale() [1/2]

◆ setScale() [2/2]

◆ setWorld()

◆ updatedPaddingOrScaling()

Member Data Documentation

◆ link_padding_

◆ link_scale_

◆ robot_model_