FCL implementation of the CollisionEnv. More...

#include <collision_env_fcl.h>

Inheritance diagram for collision_detection::CollisionEnvFCL:

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Collaboration diagram for collision_detection::CollisionEnvFCL:

Public Member Functions
	CollisionEnvFCL ()=delete

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

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

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

	~CollisionEnvFCL () override

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 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.

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

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

void	constructFCLObjectWorld (const World::Object *obj, FCLObject &fcl_obj) const
	Construct an FCL collision object from MoveIt's World::Object.

void	updateFCLObject (const std::string &id)
	Updates the specified object in \m fcl_objs_ and in the manager from new data available in the World.

void	constructFCLObjectRobot (const moveit::core::RobotState &state, FCLObject &fcl_obj) const
	Out of the current robot state and its attached bodies construct an FCLObject which can then be used to check for collision.

void	allocSelfCollisionBroadPhase (const moveit::core::RobotState &state, FCLManager &manager) const
	Prepares for the collision check through constructing an FCL collision object out of the current robot state and specifying a broadphase collision manager of FCL where the constructed object is registered to.

void	getAttachedBodyObjects (const moveit::core::AttachedBody *ab, std::vector< FCLGeometryConstPtr > &geoms) const
	Converts all shapes which make up an attached body into a vector of FCLGeometryConstPtr.

Protected Attributes
std::vector< FCLGeometryConstPtr >	robot_geoms_
	Vector of shared pointers to the FCL geometry for the objects in fcl_objs_.

std::vector< FCLCollisionObjectConstPtr >	robot_fcl_objs_
	Vector of shared pointers to the FCL collision objects which make up the robot.

std::unique_ptr< fcl::BroadPhaseCollisionManagerd >	manager_
	FCL collision manager which handles the collision checking process.

std::map< std::string, FCLObject >	fcl_objs_

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

FCL implementation of the CollisionEnv.

Definition at line 53 of file collision_env_fcl.h.

Constructor & Destructor Documentation

◆ CollisionEnvFCL() [1/4]

collision_detection::CollisionEnvFCL::CollisionEnvFCL ( )

delete

◆ CollisionEnvFCL() [2/4]

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

Definition at line 84 of file collision_env_fcl.cpp.

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◆ CollisionEnvFCL() [3/4]

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

Definition at line 122 of file collision_env_fcl.cpp.

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◆ CollisionEnvFCL() [4/4]

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

Definition at line 166 of file collision_env_fcl.cpp.

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◆ ~CollisionEnvFCL()

collision_detection::CollisionEnvFCL::~CollisionEnvFCL ( )

override

Definition at line 161 of file collision_env_fcl.cpp.

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Member Function Documentation

◆ allocSelfCollisionBroadPhase()

void collision_detection::CollisionEnvFCL::allocSelfCollisionBroadPhase	(	const moveit::core::RobotState &	state,
		FCLManager &	manager
	)		const

protected

Prepares for the collision check through constructing an FCL collision object out of the current robot state and specifying a broadphase collision manager of FCL where the constructed object is registered to.

Definition at line 254 of file collision_env_fcl.cpp.

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◆ checkRobotCollision() [1/4]

void collision_detection::CollisionEnvFCL::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 300 of file collision_env_fcl.cpp.

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◆ checkRobotCollision() [2/4]

void collision_detection::CollisionEnvFCL::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 306 of file collision_env_fcl.cpp.

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◆ checkRobotCollision() [3/4]

void collision_detection::CollisionEnvFCL::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 313 of file collision_env_fcl.cpp.

◆ checkRobotCollision() [4/4]

void collision_detection::CollisionEnvFCL::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 320 of file collision_env_fcl.cpp.

◆ checkRobotCollisionHelper()

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

protected

Bundles the different checkRobotCollision functions into a single function.

Definition at line 328 of file collision_env_fcl.cpp.

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◆ checkSelfCollision() [1/2]

void collision_detection::CollisionEnvFCL::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 262 of file collision_env_fcl.cpp.

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◆ checkSelfCollision() [2/2]

void collision_detection::CollisionEnvFCL::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 268 of file collision_env_fcl.cpp.

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◆ checkSelfCollisionHelper()

void collision_detection::CollisionEnvFCL::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 274 of file collision_env_fcl.cpp.

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◆ constructFCLObjectRobot()

void collision_detection::CollisionEnvFCL::constructFCLObjectRobot	(	const moveit::core::RobotState &	state,
		FCLObject &	fcl_obj
	)		const

protected

Out of the current robot state and its attached bodies construct an FCLObject which can then be used to check for collision.

The current state is used to recalculate the AABB of the FCL collision objects. However they are not computed from scratch (which would require call to computeLocalAABB()) but are only transformed according to the joint states.

Parameters

state	The current robot state
fcl_obj	The newly filled object

Definition at line 212 of file collision_env_fcl.cpp.

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◆ constructFCLObjectWorld()

void collision_detection::CollisionEnvFCL::constructFCLObjectWorld	(	const World::Object *	obj,
		FCLObject &	fcl_obj
	)		const

protected

Construct an FCL collision object from MoveIt's World::Object.

Definition at line 198 of file collision_env_fcl.cpp.

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◆ distanceRobot()

void collision_detection::CollisionEnvFCL::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 369 of file collision_env_fcl.cpp.

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◆ distanceSelf()

void collision_detection::CollisionEnvFCL::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 357 of file collision_env_fcl.cpp.

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◆ getAttachedBodyObjects()

void collision_detection::CollisionEnvFCL::getAttachedBodyObjects	(	const moveit::core::AttachedBody *	ab,
		std::vector< FCLGeometryConstPtr > &	geoms
	)		const

protected

Converts all shapes which make up an attached body into a vector of FCLGeometryConstPtr.

When they are converted, they can be added to the FCL representation of the robot for collision checking.

Parameters

ab	Pointer to the attached body
geoms	Output vector of geometries

Definition at line 183 of file collision_env_fcl.cpp.

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◆ setWorld()

void collision_detection::CollisionEnvFCL::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.

Reimplemented in collision_detection::CollisionEnvHybrid.

Definition at line 417 of file collision_env_fcl.cpp.

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◆ updatedPaddingOrScaling()

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

overrideprotectedvirtual

Updates the FCL collision geometry and objects saved in the CollisionRobotFCL members to reflect a new padding or scaling of the robot links.

It searches for the link through the pointed-to robot model of the CollisionRobot and then constructs new FCL collision objects and geometries depending on the changed robot model.

Parameters

links The names of the links which have been updated in the robot model

Reimplemented from collision_detection::CollisionEnv.

Definition at line 493 of file collision_env_fcl.cpp.

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◆ updateFCLObject()

void collision_detection::CollisionEnvFCL::updateFCLObject ( const std::string & id )

protected

Updates the specified object in \m fcl_objs_ and in the manager from new data available in the World.

If it does not exist in world, it is deleted. If it's not existing in \m fcl_objs_ yet, it's added there.

Definition at line 382 of file collision_env_fcl.cpp.

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Member Data Documentation

◆ fcl_objs_

std::map<std::string, FCLObject> collision_detection::CollisionEnvFCL::fcl_objs_

protected

Definition at line 151 of file collision_env_fcl.h.

◆ manager_

std::unique_ptr<fcl::BroadPhaseCollisionManagerd> collision_detection::CollisionEnvFCL::manager_

protected

FCL collision manager which handles the collision checking process.

Definition at line 149 of file collision_env_fcl.h.

◆ robot_fcl_objs_

std::vector<FCLCollisionObjectConstPtr> collision_detection::CollisionEnvFCL::robot_fcl_objs_

protected

Vector of shared pointers to the FCL collision objects which make up the robot.

Definition at line 146 of file collision_env_fcl.h.

◆ robot_geoms_

std::vector<FCLGeometryConstPtr> collision_detection::CollisionEnvFCL::robot_geoms_

protected

Vector of shared pointers to the FCL geometry for the objects in fcl_objs_.

Definition at line 143 of file collision_env_fcl.h.

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

moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_env_fcl.h
moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionEnvFCL() [1/4]

◆ CollisionEnvFCL() [2/4]

◆ CollisionEnvFCL() [3/4]

◆ CollisionEnvFCL() [4/4]

◆ ~CollisionEnvFCL()

Member Function Documentation

◆ allocSelfCollisionBroadPhase()

◆ checkRobotCollision() [1/4]

◆ checkRobotCollision() [2/4]

◆ checkRobotCollision() [3/4]

◆ checkRobotCollision() [4/4]

◆ checkRobotCollisionHelper()

◆ checkSelfCollision() [1/2]

◆ checkSelfCollision() [2/2]

◆ checkSelfCollisionHelper()

◆ constructFCLObjectRobot()

◆ constructFCLObjectWorld()

◆ distanceRobot()

◆ distanceSelf()

◆ getAttachedBodyObjects()

◆ setWorld()

◆ updatedPaddingOrScaling()

◆ updateFCLObject()

Member Data Documentation

◆ fcl_objs_

◆ manager_

◆ robot_fcl_objs_

◆ robot_geoms_