Collision environment which always just returns no collisions. More...

#include <collision_env_allvalid.h>

Inheritance diagram for collision_detection::CollisionEnvAllValid:

Collaboration diagram for collision_detection::CollisionEnvAllValid:

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.

Public Member Functions inherited from collision_detection::CollisionEnv
	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
Public Types inherited from collision_detection::CollisionEnv
using	ObjectPtr = World::ObjectPtr

using	ObjectConstPtr = World::ObjectConstPtr

Protected Member Functions inherited from collision_detection::CollisionEnv
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 inherited from collision_detection::CollisionEnv
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

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.

Constructor & Destructor Documentation

◆ CollisionEnvAllValid() [1/3]

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

Definition at line 55 of file collision_env_allvalid.cpp.

◆ CollisionEnvAllValid() [2/3]

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

Definition at line 61 of file collision_env_allvalid.cpp.

◆ CollisionEnvAllValid() [3/3]

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

Definition at line 67 of file collision_env_allvalid.cpp.

Member Function Documentation

◆ checkRobotCollision() [1/4]

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

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.

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

Implements collision_detection::CollisionEnv.

Definition at line 72 of file collision_env_allvalid.cpp.

◆ checkRobotCollision() [2/4]

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

overridevirtual

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.

Implements collision_detection::CollisionEnv.

Definition at line 80 of file collision_env_allvalid.cpp.

◆ checkRobotCollision() [3/4]

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

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.

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.

Implements collision_detection::CollisionEnv.

Definition at line 89 of file collision_env_allvalid.cpp.

◆ checkRobotCollision() [4/4]

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

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.

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.

Implements collision_detection::CollisionEnv.

Definition at line 98 of file collision_env_allvalid.cpp.

◆ checkSelfCollision() [1/2]

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

overridevirtual

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

Implements collision_detection::CollisionEnv.

Definition at line 125 of file collision_env_allvalid.cpp.

◆ checkSelfCollision() [2/2]

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

overridevirtual

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.

Implements collision_detection::CollisionEnv.

Definition at line 133 of file collision_env_allvalid.cpp.

◆ distanceRobot() [1/3]

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

overridevirtual

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

Implements collision_detection::CollisionEnv.

Definition at line 108 of file collision_env_allvalid.cpp.

◆ distanceRobot() [2/3]

double collision_detection::CollisionEnvAllValid::distanceRobot ( const moveit::core::RobotState & state ) const

virtual

Definition at line 114 of file collision_env_allvalid.cpp.

◆ distanceRobot() [3/3]

double collision_detection::CollisionEnvAllValid::distanceRobot	(	const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix &	acm
	)		const

virtual

Definition at line 119 of file collision_env_allvalid.cpp.

◆ distanceSelf()

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

overridevirtual

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

Implements collision_detection::CollisionEnv.

Definition at line 142 of file collision_env_allvalid.cpp.

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

moveit_core/collision_detection/include/moveit/collision_detection/allvalid/collision_env_allvalid.h
moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionEnvAllValid() [1/3]

◆ CollisionEnvAllValid() [2/3]

◆ CollisionEnvAllValid() [3/3]

Member Function Documentation

◆ 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()