moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Collision environment which always just returns no collisions. More...
#include <collision_env_allvalid.h>
Public Member Functions | |
CollisionEnvAllValid (const moveit::core::RobotModelConstPtr &robot_model, double padding=0.0, double scale=1.0) | |
CollisionEnvAllValid (const moveit::core::RobotModelConstPtr &robot_model, const WorldPtr &world, double padding=0.0, double scale=1.0) | |
CollisionEnvAllValid (const CollisionEnv &other, const WorldPtr &world) | |
void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override |
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. | |
void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const override |
Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked. | |
void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2) const override |
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. | |
void | checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const AllowedCollisionMatrix &acm) const override |
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 double | distanceRobot (const moveit::core::RobotState &state) const |
virtual double | distanceRobot (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const |
void | distanceRobot (const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const override |
Compute the distance between a robot and the world. | |
void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override |
Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored. | |
void | checkSelfCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const override |
Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account. | |
void | distanceSelf (const DistanceRequest &req, DistanceResult &res, const moveit::core::RobotState &state) const override |
The distance to self-collision given the robot is at state state. | |
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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 | 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. | |
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) | |
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. | |
Additional Inherited Members | |
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using | ObjectPtr = World::ObjectPtr |
using | ObjectConstPtr = World::ObjectConstPtr |
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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. | |
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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) | |
Collision environment which always just returns no collisions.
This can be used to save resources if collision checking is not important.
Definition at line 46 of file collision_env_allvalid.h.
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid | ( | const moveit::core::RobotModelConstPtr & | robot_model, |
double | padding = 0.0 , |
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double | scale = 1.0 |
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) |
Definition at line 55 of file collision_env_allvalid.cpp.
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid | ( | const moveit::core::RobotModelConstPtr & | robot_model, |
const WorldPtr & | world, | ||
double | padding = 0.0 , |
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double | scale = 1.0 |
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) |
Definition at line 61 of file collision_env_allvalid.cpp.
collision_detection::CollisionEnvAllValid::CollisionEnvAllValid | ( | const CollisionEnv & | other, |
const WorldPtr & | world | ||
) |
Definition at line 67 of file collision_env_allvalid.cpp.
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overridevirtual |
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.
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 |
Implements collision_detection::CollisionEnv.
Definition at line 72 of file collision_env_allvalid.cpp.
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overridevirtual |
Check whether the robot model is in collision with the world. Allowed collisions are ignored. Self collisions are not checked.
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. |
Implements collision_detection::CollisionEnv.
Definition at line 80 of file collision_env_allvalid.cpp.
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overridevirtual |
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.
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. |
Implements collision_detection::CollisionEnv.
Definition at line 89 of file collision_env_allvalid.cpp.
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overridevirtual |
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.
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. |
Implements collision_detection::CollisionEnv.
Definition at line 98 of file collision_env_allvalid.cpp.
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overridevirtual |
Check for robot self collision. Any collision between any pair of links is checked for, NO collisions are ignored.
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 |
Implements collision_detection::CollisionEnv.
Definition at line 125 of file collision_env_allvalid.cpp.
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overridevirtual |
Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
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. |
Implements collision_detection::CollisionEnv.
Definition at line 133 of file collision_env_allvalid.cpp.
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overridevirtual |
Compute the distance between a robot and the world.
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 |
Implements collision_detection::CollisionEnv.
Definition at line 108 of file collision_env_allvalid.cpp.
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virtual |
Definition at line 114 of file collision_env_allvalid.cpp.
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virtual |
Definition at line 119 of file collision_env_allvalid.cpp.
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overridevirtual |
The distance to self-collision given the robot is at state state.
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 |
Implements collision_detection::CollisionEnv.
Definition at line 142 of file collision_env_allvalid.cpp.