#include <collision_env_distance_field.hpp>

Inheritance diagram for collision_detection::CollisionEnvDistanceField:

Collaboration diagram for collision_detection::CollisionEnvDistanceField:

[legend]

Classes
struct	DistanceFieldCacheEntryWorld

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionEnvDistanceField (const moveit::core::RobotModelConstPtr &robot_model, const std::map< std::string, std::vector< CollisionSphere > > &link_body_decompositions=std::map< std::string, std::vector< CollisionSphere > >(), double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, const Eigen::Vector3d &origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)
	CollisionEnvDistanceField (const moveit::core::RobotModelConstPtr &robot_model, const WorldPtr &world, const std::map< std::string, std::vector< CollisionSphere > > &link_body_decompositions=std::map< std::string, std::vector< CollisionSphere > >(), double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, const Eigen::Vector3d &origin=Eigen::Vector3d(0, 0, 0), bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)
	CollisionEnvDistanceField (const CollisionEnvDistanceField &other, const WorldPtr &world)
void	initialize (const std::map< std::string, std::vector< CollisionSphere > > &link_body_decompositions, const Eigen::Vector3d &size, const Eigen::Vector3d &origin, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::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 collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const override
	Check for self collision. Allowed collisions specified by the allowed collision matrix are taken into account.
void	checkSelfCollision (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
void	createCollisionModelMarker (const moveit::core::RobotState &state, visualization_msgs::msg::MarkerArray &model_markers) const
virtual double	distanceSelf (const moveit::core::RobotState &) const
virtual double	distanceSelf (const moveit::core::RobotState &, const collision_detection::AllowedCollisionMatrix &) const
void	distanceSelf (const DistanceRequest &, DistanceResult &, const moveit::core::RobotState &) const override
	The distance to self-collision given the robot is at state state.
DistanceFieldCacheEntryConstPtr	getLastDistanceFieldEntry () const
	MOVEIT_STRUCT_FORWARD (DistanceFieldCacheEntryWorld)
	~CollisionEnvDistanceField () override
void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const override
	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, GroupStateRepresentationPtr &gsr) const
void	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const override
	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	checkCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
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.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
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.
virtual void	checkRobotCollision (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
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	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.
virtual double	distanceRobot (const moveit::core::RobotState &state, bool verbose=false) const
virtual double	distanceRobot (const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, bool verbose=false) const
void	distanceRobot (const DistanceRequest &, DistanceResult &, const moveit::core::RobotState &) const override
	Compute the distance between a robot and the world.
void	setWorld (const WorldPtr &world) override
distance_field::DistanceFieldConstPtr	getDistanceField () const
collision_detection::GroupStateRepresentationConstPtr	getLastGroupStateRepresentation () const
void	getCollisionGradients (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
void	getAllCollisions (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
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 ()
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
bool	getSelfProximityGradients (GroupStateRepresentationPtr &gsr) const
bool	getIntraGroupProximityGradients (GroupStateRepresentationPtr &gsr) const
bool	getSelfCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
bool	getIntraGroupCollisions (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, GroupStateRepresentationPtr &gsr) const
void	checkSelfCollisionHelper (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr) const
void	updateGroupStateRepresentationState (const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
void	generateCollisionCheckingStructures (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, GroupStateRepresentationPtr &gsr, bool generate_distance_field) const
DistanceFieldCacheEntryConstPtr	getDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm) const
DistanceFieldCacheEntryPtr	generateDistanceFieldCacheEntry (const std::string &group_name, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix *acm, bool generate_distance_field) const
void	addLinkBodyDecompositions (double resolution)
void	addLinkBodyDecompositions (double resolution, const std::map< std::string, std::vector< CollisionSphere > > &link_body_decompositions)
PosedBodySphereDecompositionPtr	getPosedLinkBodySphereDecomposition (const moveit::core::LinkModel *ls, unsigned int ind) const
PosedBodyPointDecompositionPtr	getPosedLinkBodyPointDecomposition (const moveit::core::LinkModel *ls) const
void	getGroupStateRepresentation (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
bool	compareCacheEntryToState (const DistanceFieldCacheEntryConstPtr &dfce, const moveit::core::RobotState &state) const
bool	compareCacheEntryToAllowedCollisionMatrix (const DistanceFieldCacheEntryConstPtr &dfce, const collision_detection::AllowedCollisionMatrix &acm) const
void	updatedPaddingOrScaling (const std::vector< std::string > &) override
	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.
DistanceFieldCacheEntryWorldPtr	generateDistanceFieldCacheEntryWorld ()
void	updateDistanceObject (const std::string &id, CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr &dfce, EigenSTL::vector_Vector3d &add_points, EigenSTL::vector_Vector3d &subtract_points)
bool	getEnvironmentCollisions (const CollisionRequest &req, CollisionResult &res, const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
bool	getEnvironmentProximityGradients (const distance_field::DistanceFieldConstPtr &env_distance_field, GroupStateRepresentationPtr &gsr) const
void	notifyObjectChange (const ObjectConstPtr &obj, World::Action action)

Protected Attributes
rclcpp::Logger	logger_
Eigen::Vector3d	size_
Eigen::Vector3d	origin_
bool	use_signed_distance_field_
double	resolution_
double	collision_tolerance_
double	max_propogation_distance_
std::vector< BodyDecompositionConstPtr >	link_body_decomposition_vector_
std::map< std::string, unsigned int >	link_body_decomposition_index_map_
std::mutex	update_cache_lock_
DistanceFieldCacheEntryPtr	distance_field_cache_entry_
std::map< std::string, std::map< std::string, bool > >	in_group_update_map_
std::map< std::string, GroupStateRepresentationPtr >	pregenerated_group_state_representation_map_
planning_scene::PlanningScenePtr	planning_scene_
std::mutex	update_cache_lock_world_
DistanceFieldCacheEntryWorldPtr	distance_field_cache_entry_world_
GroupStateRepresentationPtr	last_gsr_
World::ObserverHandle	observer_handle_
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 59 of file collision_env_distance_field.hpp.

Constructor & Destructor Documentation

◆ CollisionEnvDistanceField() [1/3]

collision_detection::CollisionEnvDistanceField::CollisionEnvDistanceField	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::map< std::string, std::vector< CollisionSphere > > &	link_body_decompositions = std::map<std::string, std::vector<CollisionSphere>>(),
		double	size_x = DEFAULT_SIZE_X,
		double	size_y = DEFAULT_SIZE_Y,
		double	size_z = DEFAULT_SIZE_Z,
		const Eigen::Vector3d &	origin = Eigen::Vector3d(0, 0, 0),
		bool	use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
		double	resolution = DEFAULT_RESOLUTION,
		double	collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
		double	max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
		double	padding = 0.0,
		double	scale = 1.0 )

Definition at line 59 of file collision_env_distance_field.cpp.

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◆ CollisionEnvDistanceField() [2/3]

collision_detection::CollisionEnvDistanceField::CollisionEnvDistanceField	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const WorldPtr &	world,
		const std::map< std::string, std::vector< CollisionSphere > > &	link_body_decompositions = std::map<std::string, std::vector<CollisionSphere>>(),
		double	size_x = DEFAULT_SIZE_X,
		double	size_y = DEFAULT_SIZE_Y,
		double	size_z = DEFAULT_SIZE_Z,
		const Eigen::Vector3d &	origin = Eigen::Vector3d(0, 0, 0),
		bool	use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
		double	resolution = DEFAULT_RESOLUTION,
		double	collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
		double	max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
		double	padding = 0.0,
		double	scale = 1.0 )

Definition at line 78 of file collision_env_distance_field.cpp.

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◆ CollisionEnvDistanceField() [3/3]

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

Definition at line 98 of file collision_env_distance_field.cpp.

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◆ ~CollisionEnvDistanceField()

collision_detection::CollisionEnvDistanceField::~CollisionEnvDistanceField ( )

override

Definition at line 121 of file collision_env_distance_field.cpp.

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Member Function Documentation

◆ addLinkBodyDecompositions() [1/2]

void collision_detection::CollisionEnvDistanceField::addLinkBodyDecompositions ( double resolution )

protected

Definition at line 960 of file collision_env_distance_field.cpp.

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◆ addLinkBodyDecompositions() [2/2]

void collision_detection::CollisionEnvDistanceField::addLinkBodyDecompositions	(	double	resolution,
		const std::map< std::string, std::vector< CollisionSphere > > &	link_body_decompositions )

protected

Definition at line 1049 of file collision_env_distance_field.cpp.

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◆ checkCollision() [1/4]

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

overridevirtual

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 from collision_detection::CollisionEnv.

Definition at line 1382 of file collision_env_distance_field.cpp.

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◆ checkCollision() [2/4]

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

overridevirtual

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 from collision_detection::CollisionEnv.

Definition at line 1414 of file collision_env_distance_field.cpp.

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◆ checkCollision() [3/4]

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

virtual

Definition at line 1422 of file collision_env_distance_field.cpp.

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◆ checkCollision() [4/4]

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

virtual

Definition at line 1389 of file collision_env_distance_field.cpp.

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◆ checkRobotCollision() [1/6]

void collision_detection::CollisionEnvDistanceField::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 1447 of file collision_env_distance_field.cpp.

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◆ checkRobotCollision() [2/6]

void collision_detection::CollisionEnvDistanceField::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 1473 of file collision_env_distance_field.cpp.

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◆ checkRobotCollision() [3/6]

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

virtual

Definition at line 1481 of file collision_env_distance_field.cpp.

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◆ checkRobotCollision() [4/6]

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

virtual

Definition at line 1454 of file collision_env_distance_field.cpp.

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◆ checkRobotCollision() [5/6]

void collision_detection::CollisionEnvDistanceField::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 1510 of file collision_env_distance_field.cpp.

◆ checkRobotCollision() [6/6]

void collision_detection::CollisionEnvDistanceField::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 1502 of file collision_env_distance_field.cpp.

◆ checkSelfCollision() [1/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::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 235 of file collision_env_distance_field.cpp.

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◆ checkSelfCollision() [2/4]

void collision_detection::CollisionEnvDistanceField::checkSelfCollision	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const collision_detection::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 251 of file collision_env_distance_field.cpp.

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◆ checkSelfCollision() [3/4]

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

Definition at line 260 of file collision_env_distance_field.cpp.

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◆ checkSelfCollision() [4/4]

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

Definition at line 243 of file collision_env_distance_field.cpp.

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◆ checkSelfCollisionHelper()

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

protected

Definition at line 177 of file collision_env_distance_field.cpp.

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◆ compareCacheEntryToAllowedCollisionMatrix()

bool collision_detection::CollisionEnvDistanceField::compareCacheEntryToAllowedCollisionMatrix	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const collision_detection::AllowedCollisionMatrix &	acm ) const

protected

Definition at line 1314 of file collision_env_distance_field.cpp.

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◆ compareCacheEntryToState()

bool collision_detection::CollisionEnvDistanceField::compareCacheEntryToState	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const moveit::core::RobotState &	state ) const

protected

Definition at line 1254 of file collision_env_distance_field.cpp.

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◆ createCollisionModelMarker()

void collision_detection::CollisionEnvDistanceField::createCollisionModelMarker	(	const moveit::core::RobotState &	state,
		visualization_msgs::msg::MarkerArray &	model_markers ) const

Definition at line 981 of file collision_env_distance_field.cpp.

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◆ distanceRobot() [1/3]

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

inlineoverridevirtual

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 195 of file collision_env_distance_field.hpp.

◆ distanceRobot() [2/3]

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

inlinevirtual

Definition at line 179 of file collision_env_distance_field.hpp.

◆ distanceRobot() [3/3]

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

inlinevirtual

Definition at line 186 of file collision_env_distance_field.hpp.

◆ distanceSelf() [1/3]

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

inlineoverridevirtual

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 120 of file collision_env_distance_field.hpp.

◆ distanceSelf() [2/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceSelf ( const moveit::core::RobotState & ) const

inlinevirtual

Definition at line 109 of file collision_env_distance_field.hpp.

◆ distanceSelf() [3/3]

virtual double collision_detection::CollisionEnvDistanceField::distanceSelf	(	const moveit::core::RobotState &	,
		const collision_detection::AllowedCollisionMatrix &	) const

inlinevirtual

Definition at line 114 of file collision_env_distance_field.hpp.

◆ generateCollisionCheckingStructures()

void collision_detection::CollisionEnvDistanceField::generateCollisionCheckingStructures	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr,
		bool	generate_distance_field ) const

protected

Definition at line 158 of file collision_env_distance_field.cpp.

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◆ generateDistanceFieldCacheEntry()

DistanceFieldCacheEntryPtr collision_detection::CollisionEnvDistanceField::generateDistanceFieldCacheEntry	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	generate_distance_field ) const

protected

Definition at line 710 of file collision_env_distance_field.cpp.

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◆ generateDistanceFieldCacheEntryWorld()

CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr collision_detection::CollisionEnvDistanceField::generateDistanceFieldCacheEntryWorld ( )

protected

Definition at line 1782 of file collision_env_distance_field.cpp.

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◆ getAllCollisions()

void collision_detection::CollisionEnvDistanceField::getAllCollisions	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr ) const

Definition at line 1540 of file collision_env_distance_field.cpp.

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◆ getCollisionGradients()

void collision_detection::CollisionEnvDistanceField::getCollisionGradients	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const moveit::core::RobotState &	state,
		const AllowedCollisionMatrix *	acm,
		GroupStateRepresentationPtr &	gsr ) const

Definition at line 1517 of file collision_env_distance_field.cpp.

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◆ getDistanceField()

distance_field::DistanceFieldConstPtr collision_detection::CollisionEnvDistanceField::getDistanceField ( ) const

inline

Definition at line 203 of file collision_env_distance_field.hpp.

◆ getDistanceFieldCacheEntry()

DistanceFieldCacheEntryConstPtr collision_detection::CollisionEnvDistanceField::getDistanceFieldCacheEntry	(	const std::string &	group_name,
		const moveit::core::RobotState &	state,
		const collision_detection::AllowedCollisionMatrix *	acm ) const

protected

Definition at line 203 of file collision_env_distance_field.cpp.

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◆ getEnvironmentCollisions()

bool collision_detection::CollisionEnvDistanceField::getEnvironmentCollisions	(	const CollisionRequest &	req,
		CollisionResult &	res,
		const distance_field::DistanceFieldConstPtr &	env_distance_field,
		GroupStateRepresentationPtr &	gsr ) const

protected

Definition at line 1561 of file collision_env_distance_field.cpp.

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◆ getEnvironmentProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getEnvironmentProximityGradients	(	const distance_field::DistanceFieldConstPtr &	env_distance_field,
		GroupStateRepresentationPtr &	gsr ) const

protected

Definition at line 1645 of file collision_env_distance_field.cpp.

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◆ getGroupStateRepresentation()

void collision_detection::CollisionEnvDistanceField::getGroupStateRepresentation	(	const DistanceFieldCacheEntryConstPtr &	dfce,
		const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr ) const

protected

std::cerr << "Attached " << dfce->attached_body_names_[i] << " index " << dfce->attached_body_link_state_indices_[i] << '
';

Definition at line 1157 of file collision_env_distance_field.cpp.

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◆ getIntraGroupCollisions()

bool collision_detection::CollisionEnvDistanceField::getIntraGroupCollisions	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		GroupStateRepresentationPtr &	gsr ) const

protected

Definition at line 430 of file collision_env_distance_field.cpp.

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◆ getIntraGroupProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getIntraGroupProximityGradients ( GroupStateRepresentationPtr & gsr ) const

protected

Definition at line 644 of file collision_env_distance_field.cpp.

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◆ getLastDistanceFieldEntry()

DistanceFieldCacheEntryConstPtr collision_detection::CollisionEnvDistanceField::getLastDistanceFieldEntry ( ) const

inline

Definition at line 126 of file collision_env_distance_field.hpp.

◆ getLastGroupStateRepresentation()

collision_detection::GroupStateRepresentationConstPtr collision_detection::CollisionEnvDistanceField::getLastGroupStateRepresentation ( ) const

inline

Definition at line 208 of file collision_env_distance_field.hpp.

◆ getPosedLinkBodyPointDecomposition()

PosedBodyPointDecompositionPtr collision_detection::CollisionEnvDistanceField::getPosedLinkBodyPointDecomposition ( const moveit::core::LinkModel * ls ) const

protected

Definition at line 1090 of file collision_env_distance_field.cpp.

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◆ getPosedLinkBodySphereDecomposition()

PosedBodySphereDecompositionPtr collision_detection::CollisionEnvDistanceField::getPosedLinkBodySphereDecomposition	(	const moveit::core::LinkModel *	ls,
		unsigned int	ind ) const

protected

Definition at line 1081 of file collision_env_distance_field.cpp.

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◆ getSelfCollisions()

bool collision_detection::CollisionEnvDistanceField::getSelfCollisions	(	const collision_detection::CollisionRequest &	req,
		collision_detection::CollisionResult &	res,
		GroupStateRepresentationPtr &	gsr ) const

protected

Definition at line 274 of file collision_env_distance_field.cpp.

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◆ getSelfProximityGradients()

bool collision_detection::CollisionEnvDistanceField::getSelfProximityGradients ( GroupStateRepresentationPtr & gsr ) const

protected

Definition at line 355 of file collision_env_distance_field.cpp.

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◆ initialize()

void collision_detection::CollisionEnvDistanceField::initialize	(	const std::map< std::string, std::vector< CollisionSphere > > &	link_body_decompositions,
		const Eigen::Vector3d &	size,
		const Eigen::Vector3d &	origin,
		bool	use_signed_distance_field,
		double	resolution,
		double	collision_tolerance,
		double	max_propogation_distance )

Definition at line 126 of file collision_env_distance_field.cpp.

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◆ MOVEIT_STRUCT_FORWARD()

collision_detection::CollisionEnvDistanceField::MOVEIT_STRUCT_FORWARD ( DistanceFieldCacheEntryWorld )

◆ notifyObjectChange()

void collision_detection::CollisionEnvDistanceField::notifyObjectChange	(	const ObjectConstPtr &	obj,
		World::Action	action )

protected

Definition at line 1704 of file collision_env_distance_field.cpp.

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◆ setWorld()

void collision_detection::CollisionEnvDistanceField::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 1683 of file collision_env_distance_field.cpp.

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◆ updateDistanceObject()

void collision_detection::CollisionEnvDistanceField::updateDistanceObject	(	const std::string &	id,
		CollisionEnvDistanceField::DistanceFieldCacheEntryWorldPtr &	dfce,
		EigenSTL::vector_Vector3d &	add_points,
		EigenSTL::vector_Vector3d &	subtract_points )

protected

Definition at line 1730 of file collision_env_distance_field.cpp.

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◆ updatedPaddingOrScaling()

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

inlineoverrideprotectedvirtual

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 from collision_detection::CollisionEnv.

Definition at line 270 of file collision_env_distance_field.hpp.

◆ updateGroupStateRepresentationState()

void collision_detection::CollisionEnvDistanceField::updateGroupStateRepresentationState	(	const moveit::core::RobotState &	state,
		GroupStateRepresentationPtr &	gsr ) const

protected

Definition at line 1103 of file collision_env_distance_field.cpp.

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Member Data Documentation

◆ collision_tolerance_

double collision_detection::CollisionEnvDistanceField::collision_tolerance_

protected

Definition at line 292 of file collision_env_distance_field.hpp.

◆ distance_field_cache_entry_

DistanceFieldCacheEntryPtr collision_detection::CollisionEnvDistanceField::distance_field_cache_entry_

protected

Definition at line 299 of file collision_env_distance_field.hpp.

◆ distance_field_cache_entry_world_

DistanceFieldCacheEntryWorldPtr collision_detection::CollisionEnvDistanceField::distance_field_cache_entry_world_

protected

Definition at line 306 of file collision_env_distance_field.hpp.

◆ in_group_update_map_

std::map<std::string, std::map<std::string, bool> > collision_detection::CollisionEnvDistanceField::in_group_update_map_

protected

Definition at line 300 of file collision_env_distance_field.hpp.

◆ last_gsr_

GroupStateRepresentationPtr collision_detection::CollisionEnvDistanceField::last_gsr_

protected

Definition at line 307 of file collision_env_distance_field.hpp.

◆ link_body_decomposition_index_map_

std::map<std::string, unsigned int> collision_detection::CollisionEnvDistanceField::link_body_decomposition_index_map_

protected

Definition at line 296 of file collision_env_distance_field.hpp.

◆ link_body_decomposition_vector_

std::vector<BodyDecompositionConstPtr> collision_detection::CollisionEnvDistanceField::link_body_decomposition_vector_

protected

Definition at line 295 of file collision_env_distance_field.hpp.

◆ logger_

rclcpp::Logger collision_detection::CollisionEnvDistanceField::logger_

protected

Definition at line 286 of file collision_env_distance_field.hpp.

◆ max_propogation_distance_

double collision_detection::CollisionEnvDistanceField::max_propogation_distance_

protected

Definition at line 293 of file collision_env_distance_field.hpp.

◆ observer_handle_

World::ObserverHandle collision_detection::CollisionEnvDistanceField::observer_handle_

protected

Definition at line 308 of file collision_env_distance_field.hpp.

◆ origin_

Eigen::Vector3d collision_detection::CollisionEnvDistanceField::origin_

protected

Definition at line 289 of file collision_env_distance_field.hpp.

◆ planning_scene_

planning_scene::PlanningScenePtr collision_detection::CollisionEnvDistanceField::planning_scene_

protected

Definition at line 303 of file collision_env_distance_field.hpp.

◆ pregenerated_group_state_representation_map_

std::map<std::string, GroupStateRepresentationPtr> collision_detection::CollisionEnvDistanceField::pregenerated_group_state_representation_map_

protected

Definition at line 301 of file collision_env_distance_field.hpp.

◆ resolution_

double collision_detection::CollisionEnvDistanceField::resolution_

protected

Definition at line 291 of file collision_env_distance_field.hpp.

◆ size_

Eigen::Vector3d collision_detection::CollisionEnvDistanceField::size_

protected

Definition at line 288 of file collision_env_distance_field.hpp.

◆ update_cache_lock_

std::mutex collision_detection::CollisionEnvDistanceField::update_cache_lock_

mutableprotected

Definition at line 298 of file collision_env_distance_field.hpp.

◆ update_cache_lock_world_

std::mutex collision_detection::CollisionEnvDistanceField::update_cache_lock_world_

mutableprotected

Definition at line 305 of file collision_env_distance_field.hpp.

◆ use_signed_distance_field_

bool collision_detection::CollisionEnvDistanceField::use_signed_distance_field_

protected

Definition at line 290 of file collision_env_distance_field.hpp.

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

moveit_core/collision_distance_field/include/moveit/collision_distance_field/collision_env_distance_field.hpp
moveit_core/collision_distance_field/src/collision_env_distance_field.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionEnvDistanceField() [1/3]

◆ CollisionEnvDistanceField() [2/3]

◆ CollisionEnvDistanceField() [3/3]

◆ ~CollisionEnvDistanceField()

Member Function Documentation

◆ addLinkBodyDecompositions() [1/2]

◆ addLinkBodyDecompositions() [2/2]

◆ checkCollision() [1/4]

◆ checkCollision() [2/4]

◆ checkCollision() [3/4]

◆ checkCollision() [4/4]

◆ checkRobotCollision() [1/6]

◆ checkRobotCollision() [2/6]

◆ checkRobotCollision() [3/6]

◆ checkRobotCollision() [4/6]

◆ checkRobotCollision() [5/6]

◆ checkRobotCollision() [6/6]

◆ checkSelfCollision() [1/4]

◆ checkSelfCollision() [2/4]

◆ checkSelfCollision() [3/4]

◆ checkSelfCollision() [4/4]

◆ checkSelfCollisionHelper()

◆ compareCacheEntryToAllowedCollisionMatrix()

◆ compareCacheEntryToState()

◆ createCollisionModelMarker()

◆ distanceRobot() [1/3]

◆ distanceRobot() [2/3]

◆ distanceRobot() [3/3]

◆ distanceSelf() [1/3]

◆ distanceSelf() [2/3]

◆ distanceSelf() [3/3]

◆ generateCollisionCheckingStructures()

◆ generateDistanceFieldCacheEntry()

◆ generateDistanceFieldCacheEntryWorld()

◆ getAllCollisions()

◆ getCollisionGradients()

◆ getDistanceField()

◆ getDistanceFieldCacheEntry()

◆ getEnvironmentCollisions()

◆ getEnvironmentProximityGradients()

◆ getGroupStateRepresentation()

◆ getIntraGroupCollisions()

◆ getIntraGroupProximityGradients()

◆ getLastDistanceFieldEntry()

◆ getLastGroupStateRepresentation()

◆ getPosedLinkBodyPointDecomposition()

◆ getPosedLinkBodySphereDecomposition()

◆ getSelfCollisions()

◆ getSelfProximityGradients()

◆ initialize()

◆ MOVEIT_STRUCT_FORWARD()

◆ notifyObjectChange()

◆ setWorld()

◆ updateDistanceObject()

◆ updatedPaddingOrScaling()

◆ updateGroupStateRepresentationState()

Member Data Documentation

◆ collision_tolerance_

◆ distance_field_cache_entry_

◆ distance_field_cache_entry_world_

◆ in_group_update_map_

◆ last_gsr_

◆ link_body_decomposition_index_map_

◆ link_body_decomposition_vector_

◆ logger_

◆ max_propogation_distance_

◆ observer_handle_

◆ origin_

◆ planning_scene_

◆ pregenerated_group_state_representation_map_

◆ resolution_

◆ size_

◆ update_cache_lock_