#include <collision_env_bullet.h>

Inheritance diagram for collision_detection::CollisionEnvBullet:

Collaboration diagram for collision_detection::CollisionEnvBullet:

Public Member Functions
	CollisionEnvBullet ()=delete

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

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

	CollisionEnvBullet (const CollisionEnvBullet &other, const WorldPtr &world)

	~CollisionEnvBullet () override

	CollisionEnvBullet (CollisionEnvBullet &)=delete

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	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.

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.

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

void	setWorld (const WorldPtr &world) override

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.

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
void	updateTransformsFromState (const moveit::core::RobotState &state, const collision_detection_bullet::BulletDiscreteBVHManagerPtr &manager) const
	Updates the poses of the objects in the manager according to given robot state.

void	updatedPaddingOrScaling (const std::vector< std::string > &links) override
	Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links.

void	addAttachedObjects (const moveit::core::RobotState &state, std::vector< collision_detection_bullet::CollisionObjectWrapperPtr > &cows) const
	All of the attached objects in the robot state are wrapped into bullet collision objects.

void	checkSelfCollisionHelper (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm) const
	Bundles the different checkSelfCollision functions into a single function.

void	checkRobotCollisionHelperCCD (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const AllowedCollisionMatrix *acm) const

void	checkRobotCollisionHelper (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm) const

void	addLinkAsCollisionObject (const urdf::LinkSharedPtr &link)
	Construts a bullet collision object out of a robot link.

void	addToManager (const World::Object *obj)
	Adds a world object to the collision managers.

void	updateManagedObject (const std::string &id)
	Updates a managed collision object with its world representation.

Protected Attributes
collision_detection_bullet::BulletDiscreteBVHManagerPtr	manager_
	Handles self collision checks.

collision_detection_bullet::BulletCastBVHManagerPtr	manager_CCD_
	Handles continuous robot world collision checks.

std::mutex	collision_env_mutex_

std::vector< std::string >	active_
	The active links where active refers to the group which can collide with everything.

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)

Additional Inherited Members
Public Types inherited from collision_detection::CollisionEnv
using	ObjectPtr = World::ObjectPtr

using	ObjectConstPtr = World::ObjectConstPtr

Detailed Description

Definition at line 47 of file collision_env_bullet.h.

Constructor & Destructor Documentation

◆ CollisionEnvBullet() [1/5]

collision_detection::CollisionEnvBullet::CollisionEnvBullet ( )

delete

◆ CollisionEnvBullet() [2/5]

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

Definition at line 53 of file collision_env_bullet.cpp.

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◆ CollisionEnvBullet() [3/5]

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

Definition at line 66 of file collision_env_bullet.cpp.

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◆ CollisionEnvBullet() [4/5]

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

Definition at line 82 of file collision_env_bullet.cpp.

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◆ ~CollisionEnvBullet()

collision_detection::CollisionEnvBullet::~CollisionEnvBullet ( )

override

Definition at line 98 of file collision_env_bullet.cpp.

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◆ CollisionEnvBullet() [5/5]

collision_detection::CollisionEnvBullet::CollisionEnvBullet ( CollisionEnvBullet & )

delete

Member Function Documentation

◆ addAttachedObjects()

void collision_detection::CollisionEnvBullet::addAttachedObjects	(	const moveit::core::RobotState &	state,
		std::vector< collision_detection_bullet::CollisionObjectWrapperPtr > &	cows
	)		const

protected

All of the attached objects in the robot state are wrapped into bullet collision objects.

Definition at line 335 of file collision_env_bullet.cpp.

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◆ addLinkAsCollisionObject()

void collision_detection::CollisionEnvBullet::addLinkAsCollisionObject ( const urdf::LinkSharedPtr & link )

protected

Construts a bullet collision object out of a robot link.

Definition at line 389 of file collision_env_bullet.cpp.

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◆ addToManager()

void collision_detection::CollisionEnvBullet::addToManager ( const World::Object * obj )

protected

Adds a world object to the collision managers.

Definition at line 253 of file collision_env_bullet.cpp.

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◆ checkRobotCollision() [1/4]

void collision_detection::CollisionEnvBullet::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 151 of file collision_env_bullet.cpp.

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◆ checkRobotCollision() [2/4]

void collision_detection::CollisionEnvBullet::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 157 of file collision_env_bullet.cpp.

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◆ checkRobotCollision() [3/4]

void collision_detection::CollisionEnvBullet::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 164 of file collision_env_bullet.cpp.

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◆ checkRobotCollision() [4/4]

void collision_detection::CollisionEnvBullet::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 171 of file collision_env_bullet.cpp.

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◆ checkRobotCollisionHelper()

void collision_detection::CollisionEnvBullet::checkRobotCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 179 of file collision_env_bullet.cpp.

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◆ checkRobotCollisionHelperCCD()

void collision_detection::CollisionEnvBullet::checkRobotCollisionHelperCCD	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state1,
		const moveit::core::RobotState &	state2,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Definition at line 209 of file collision_env_bullet.cpp.

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◆ checkSelfCollision() [1/2]

void collision_detection::CollisionEnvBullet::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 103 of file collision_env_bullet.cpp.

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◆ checkSelfCollision() [2/2]

void collision_detection::CollisionEnvBullet::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 109 of file collision_env_bullet.cpp.

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◆ checkSelfCollisionHelper()

void collision_detection::CollisionEnvBullet::checkSelfCollisionHelper	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm
	)		const

protected

Bundles the different checkSelfCollision functions into a single function.

Definition at line 116 of file collision_env_bullet.cpp.

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◆ distanceRobot()

void collision_detection::CollisionEnvBullet::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 247 of file collision_env_bullet.cpp.

◆ distanceSelf()

void collision_detection::CollisionEnvBullet::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 241 of file collision_env_bullet.cpp.

◆ setWorld()

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

overridevirtual

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 from collision_detection::CollisionEnv.

Definition at line 303 of file collision_env_bullet.cpp.

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◆ updatedPaddingOrScaling()

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

overrideprotectedvirtual

Updates the collision objects saved in the manager to reflect a new padding or scaling of the robot links.

Reimplemented from collision_detection::CollisionEnv.

Definition at line 363 of file collision_env_bullet.cpp.

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◆ updateManagedObject()

void collision_detection::CollisionEnvBullet::updateManagedObject ( const std::string & id )

protected

Updates a managed collision object with its world representation.

We have three cases: 1) the object is part of the manager and not of world --> delete it 2) the object is not in the manager, therefore register to manager, 3) the object is in the manager then delete and add the modified

Definition at line 277 of file collision_env_bullet.cpp.

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◆ updateTransformsFromState()

void collision_detection::CollisionEnvBullet::updateTransformsFromState	(	const moveit::core::RobotState &	state,
		const collision_detection_bullet::BulletDiscreteBVHManagerPtr &	manager
	)		const

protected

Updates the poses of the objects in the manager according to given robot state.

Definition at line 378 of file collision_env_bullet.cpp.

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Member Data Documentation

◆ active_

std::vector<std::string> collision_detection::CollisionEnvBullet::active_

protected

The active links where active refers to the group which can collide with everything.

Definition at line 140 of file collision_env_bullet.h.

◆ collision_env_mutex_

std::mutex collision_detection::CollisionEnvBullet::collision_env_mutex_

mutableprotected

Definition at line 127 of file collision_env_bullet.h.

◆ manager_

collision_detection_bullet::BulletDiscreteBVHManagerPtr collision_detection::CollisionEnvBullet::manager_

protected

Initial value:

{
    new collision_detection_bullet::BulletDiscreteBVHManager()
  }

Handles self collision checks.

Definition at line 117 of file collision_env_bullet.h.

◆ manager_CCD_

collision_detection_bullet::BulletCastBVHManagerPtr collision_detection::CollisionEnvBullet::manager_CCD_

protected

Initial value:

{
    new collision_detection_bullet::BulletCastBVHManager()
  }

Handles continuous robot world collision checks.

Definition at line 122 of file collision_env_bullet.h.

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

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/collision_env_bullet.h
moveit_core/collision_detection_bullet/src/collision_env_bullet.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionEnvBullet() [1/5]

◆ CollisionEnvBullet() [2/5]

◆ CollisionEnvBullet() [3/5]

◆ CollisionEnvBullet() [4/5]

◆ ~CollisionEnvBullet()

◆ CollisionEnvBullet() [5/5]

Member Function Documentation

◆ addAttachedObjects()

◆ addLinkAsCollisionObject()

◆ addToManager()

◆ checkRobotCollision() [1/4]

◆ checkRobotCollision() [2/4]

◆ checkRobotCollision() [3/4]

◆ checkRobotCollision() [4/4]

◆ checkRobotCollisionHelper()

◆ checkRobotCollisionHelperCCD()

◆ checkSelfCollision() [1/2]

◆ checkSelfCollision() [2/2]

◆ checkSelfCollisionHelper()

◆ distanceRobot()

◆ distanceSelf()

◆ setWorld()

◆ updatedPaddingOrScaling()

◆ updateManagedObject()

◆ updateTransformsFromState()

Member Data Documentation

◆ active_

◆ collision_env_mutex_

◆ manager_

◆ manager_CCD_