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Public Member Functions | Protected Attributes | List of all members
collision_detection::CollisionEnvHybrid Class Reference

This hybrid collision environment combines FCL and a distance field. Both can be used to calculate collisions. More...

#include <collision_env_hybrid.h>

Inheritance diagram for collision_detection::CollisionEnvHybrid:
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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CollisionEnvHybrid (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)
 
 CollisionEnvHybrid (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)
 
 CollisionEnvHybrid (const CollisionEnvHybrid &other, const WorldPtr &world)
 
 ~CollisionEnvHybrid () override
 
void initializeRobotDistanceField (const std::map< std::string, std::vector< CollisionSphere > > &link_body_decompositions, double size_x, double size_y, double size_z, bool use_signed_distance_field, double resolution, double collision_tolerance, double max_propogation_distance)
 
void checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state) const
 
void checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
void checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm) const
 
void checkSelfCollisionDistanceField (const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res, const moveit::core::RobotState &state, const collision_detection::AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
const CollisionEnvDistanceFieldConstPtr getCollisionRobotDistanceField () const
 
void checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const
 
void checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
void checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const
 
void checkCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
void checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state) const
 
void checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, GroupStateRepresentationPtr &gsr) const
 
void checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm) const
 
void checkRobotCollisionDistanceField (const CollisionRequest &req, CollisionResult &res, const moveit::core::RobotState &state, const AllowedCollisionMatrix &acm, GroupStateRepresentationPtr &gsr) const
 
void setWorld (const WorldPtr &world) override
 
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
 
const CollisionEnvDistanceFieldConstPtr getCollisionWorldDistanceField () const
 
- Public Member Functions inherited from collision_detection::CollisionEnvFCL
 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.
 
- 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 Attributes

CollisionEnvDistanceFieldPtr cenv_distance_
 
- Protected Attributes inherited from collision_detection::CollisionEnvFCL
std::vector< FCLGeometryConstPtr > robot_geoms_
 Vector of shared pointers to the FCL geometry for the objects in fcl_objs_.
 
std::vector< FCLCollisionObjectConstPtrrobot_fcl_objs_
 Vector of shared pointers to the FCL collision objects which make up the robot.
 
std::unique_ptr< fcl::BroadPhaseCollisionManagerdmanager_
 FCL collision manager which handles the collision checking process.
 
std::map< std::string, FCLObjectfcl_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
 
- Protected Member Functions inherited from collision_detection::CollisionEnvFCL
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.
 

Detailed Description

This hybrid collision environment combines FCL and a distance field. Both can be used to calculate collisions.

Definition at line 48 of file collision_env_hybrid.h.

Constructor & Destructor Documentation

◆ CollisionEnvHybrid() [1/3]

collision_detection::CollisionEnvHybrid::CollisionEnvHybrid ( 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 44 of file collision_env_hybrid.cpp.

◆ CollisionEnvHybrid() [2/3]

collision_detection::CollisionEnvHybrid::CollisionEnvHybrid ( 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 56 of file collision_env_hybrid.cpp.

◆ CollisionEnvHybrid() [3/3]

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

Definition at line 68 of file collision_env_hybrid.cpp.

◆ ~CollisionEnvHybrid()

collision_detection::CollisionEnvHybrid::~CollisionEnvHybrid ( )
inlineoverride

Definition at line 75 of file collision_env_hybrid.h.

Member Function Documentation

◆ checkCollisionDistanceField() [1/4]

void collision_detection::CollisionEnvHybrid::checkCollisionDistanceField ( const CollisionRequest req,
CollisionResult res,
const moveit::core::RobotState state 
) const

Definition at line 107 of file collision_env_hybrid.cpp.

◆ checkCollisionDistanceField() [2/4]

void collision_detection::CollisionEnvHybrid::checkCollisionDistanceField ( const CollisionRequest req,
CollisionResult res,
const moveit::core::RobotState state,
const AllowedCollisionMatrix acm 
) const

Definition at line 120 of file collision_env_hybrid.cpp.

◆ checkCollisionDistanceField() [3/4]

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

Definition at line 127 of file collision_env_hybrid.cpp.

◆ checkCollisionDistanceField() [4/4]

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

Definition at line 113 of file collision_env_hybrid.cpp.

◆ checkRobotCollisionDistanceField() [1/4]

void collision_detection::CollisionEnvHybrid::checkRobotCollisionDistanceField ( const CollisionRequest req,
CollisionResult res,
const moveit::core::RobotState state 
) const

Definition at line 135 of file collision_env_hybrid.cpp.

◆ checkRobotCollisionDistanceField() [2/4]

void collision_detection::CollisionEnvHybrid::checkRobotCollisionDistanceField ( const CollisionRequest req,
CollisionResult res,
const moveit::core::RobotState state,
const AllowedCollisionMatrix acm 
) const

Definition at line 148 of file collision_env_hybrid.cpp.

◆ checkRobotCollisionDistanceField() [3/4]

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

Definition at line 155 of file collision_env_hybrid.cpp.

◆ checkRobotCollisionDistanceField() [4/4]

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

Definition at line 141 of file collision_env_hybrid.cpp.

◆ checkSelfCollisionDistanceField() [1/4]

void collision_detection::CollisionEnvHybrid::checkSelfCollisionDistanceField ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state 
) const

Definition at line 75 of file collision_env_hybrid.cpp.

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◆ checkSelfCollisionDistanceField() [2/4]

void collision_detection::CollisionEnvHybrid::checkSelfCollisionDistanceField ( const collision_detection::CollisionRequest req,
collision_detection::CollisionResult res,
const moveit::core::RobotState state,
const collision_detection::AllowedCollisionMatrix acm 
) const

Definition at line 90 of file collision_env_hybrid.cpp.

◆ checkSelfCollisionDistanceField() [3/4]

void collision_detection::CollisionEnvHybrid::checkSelfCollisionDistanceField ( 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 98 of file collision_env_hybrid.cpp.

◆ checkSelfCollisionDistanceField() [4/4]

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

Definition at line 82 of file collision_env_hybrid.cpp.

◆ getAllCollisions()

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

Definition at line 179 of file collision_env_hybrid.cpp.

◆ getCollisionGradients()

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

Definition at line 172 of file collision_env_hybrid.cpp.

◆ getCollisionRobotDistanceField()

const CollisionEnvDistanceFieldConstPtr collision_detection::CollisionEnvHybrid::getCollisionRobotDistanceField ( ) const
inline

Definition at line 104 of file collision_env_hybrid.h.

◆ getCollisionWorldDistanceField()

const CollisionEnvDistanceFieldConstPtr collision_detection::CollisionEnvHybrid::getCollisionWorldDistanceField ( ) const
inline

Definition at line 143 of file collision_env_hybrid.h.

◆ initializeRobotDistanceField()

void collision_detection::CollisionEnvHybrid::initializeRobotDistanceField ( const std::map< std::string, std::vector< CollisionSphere > > &  link_body_decompositions,
double  size_x,
double  size_y,
double  size_z,
bool  use_signed_distance_field,
double  resolution,
double  collision_tolerance,
double  max_propogation_distance 
)
inline

Definition at line 79 of file collision_env_hybrid.h.

◆ setWorld()

void collision_detection::CollisionEnvHybrid::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::CollisionEnvFCL.

Definition at line 163 of file collision_env_hybrid.cpp.

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Member Data Documentation

◆ cenv_distance_

CollisionEnvDistanceFieldPtr collision_detection::CollisionEnvHybrid::cenv_distance_
protected

Definition at line 149 of file collision_env_hybrid.h.


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