A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...

#include <bullet_bvh_manager.hpp>

Inheritance diagram for collision_detection_bullet::BulletBVHManager:

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Collaboration diagram for collision_detection_bullet::BulletBVHManager:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletBVHManager ()
	Constructor.

virtual	~BulletBVHManager ()

BulletBVHManagerPtr	clone () const
	Clone the manager.

bool	hasCollisionObject (const std::string &name) const
	Find if a collision object already exists.

bool	removeCollisionObject (const std::string &name)
	Remove an object from the checker.

bool	enableCollisionObject (const std::string &name)
	Enable an object.

bool	disableCollisionObject (const std::string &name)
	Disable an object.

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose)
	Set a single static collision object's transform.

void	setActiveCollisionObjects (const std::vector< std::string > &names)
	Set which collision objects are active.

const std::vector< std::string > &	getActiveCollisionObjects () const
	Get which collision objects are active.

void	setContactDistanceThreshold (double contact_distance)
	Set the contact distance threshold for which collision should be considered through expanding the AABB by the contact_distance for all links.

double	getContactDistanceThreshold () const
	Get the contact distance threshold.

virtual void	contactTest (collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self)=0
	Perform a contact test for all objects.

virtual void	addCollisionObject (const CollisionObjectWrapperPtr &cow)=0
	Add a collision object to the checker.

const std::map< std::string, CollisionObjectWrapperPtr > &	getCollisionObjects () const

Protected Attributes
std::map< std::string, CollisionObjectWrapperPtr >	link2cow_
	A map of collision objects being managed.

std::vector< std::string >	active_
	A list of the active collision links.

double	contact_distance_
	The contact distance threshold.

std::unique_ptr< btCollisionDispatcher >	dispatcher_
	The bullet collision dispatcher used for getting object to object collision algorithm.

btDispatcherInfo	dispatch_info_
	The bullet collision dispatcher configuration information.

btDefaultCollisionConfiguration	coll_config_
	The bullet collision configuration.

std::unique_ptr< btBroadphaseInterface >	broadphase_
	The bullet broadphase interface.

BroadphaseFilterCallback	filter_callback_
	Callback function for culling objects before a broadphase check.

Detailed Description

A bounding volume hierarchy (BVH) implementation of a tesseract contact manager.

Definition at line 44 of file bullet_bvh_manager.hpp.

Constructor & Destructor Documentation

◆ BulletBVHManager()

collision_detection_bullet::BulletBVHManager::BulletBVHManager ( )

Constructor.

Definition at line 40 of file bullet_bvh_manager.cpp.

◆ ~BulletBVHManager()

collision_detection_bullet::BulletBVHManager::~BulletBVHManager ( )

virtual

Definition at line 58 of file bullet_bvh_manager.cpp.

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Member Function Documentation

◆ addCollisionObject()

virtual void collision_detection_bullet::BulletBVHManager::addCollisionObject ( const CollisionObjectWrapperPtr & cow )

pure virtual

Add a collision object to the checker.

All objects are added should initially be added as static objects. Use the setContactRequest method of defining which collision objects are moving.

Parameters

name	The name of the object, must be unique.
mask_id	User defined id which gets stored in the results structure.
shapes	A vector of shapes that make up the collision object.
shape_poses	A vector of poses for each shape, must be same length as shapes
shape_types	A vector of shape types for encode the collision object. If the vector is of length 1 it is used for all shapes.
collision_object_types	A int identifying a conversion mode for the object. (ex. convert meshes to convex hulls)
enabled	Indicate if the object is enabled for collision checking.

Returns: true if successfully added, otherwise false.

Add a tesseract collision object to the manager

Parameters

cow	The tesseract bullet collision object

Implemented in collision_detection_bullet::BulletCastBVHManager, and collision_detection_bullet::BulletDiscreteBVHManager.

◆ clone()

BulletBVHManagerPtr collision_detection_bullet::BulletBVHManager::clone ( ) const

Clone the manager.

This is to be used for multi threaded applications. A user should make a clone for each thread.

◆ contactTest()

virtual void collision_detection_bullet::BulletBVHManager::contactTest	(	collision_detection::CollisionResult &	collisions,
		const collision_detection::CollisionRequest &	req,
		const collision_detection::AllowedCollisionMatrix *	acm,
		bool	self
	)

pure virtual

Perform a contact test for all objects.

Parameters

collisions	The Contact results data
req	The collision request data
acm	The allowed collision matrix
self	Used for indicating self collision checks

Implemented in collision_detection_bullet::BulletCastBVHManager, and collision_detection_bullet::BulletDiscreteBVHManager.

◆ disableCollisionObject()

bool collision_detection_bullet::BulletBVHManager::disableCollisionObject ( const std::string & name )

Disable an object.

Parameters

name	The name of the object

Returns: true if successfully disabled, otherwise false.

Definition at line 96 of file bullet_bvh_manager.cpp.

◆ enableCollisionObject()

bool collision_detection_bullet::BulletBVHManager::enableCollisionObject ( const std::string & name )

Enable an object.

Parameters

name	The name of the object

Returns: true if successfully enabled, otherwise false.

Definition at line 84 of file bullet_bvh_manager.cpp.

◆ getActiveCollisionObjects()

const std::vector< std::string > & collision_detection_bullet::BulletBVHManager::getActiveCollisionObjects ( ) const

Get which collision objects are active.

Returns: A vector of collision object names

Definition at line 140 of file bullet_bvh_manager.cpp.

◆ getCollisionObjects()

const std::map< std::string, CollisionObjectWrapperPtr > & collision_detection_bullet::BulletBVHManager::getCollisionObjects ( ) const

Definition at line 163 of file bullet_bvh_manager.cpp.

◆ getContactDistanceThreshold()

double collision_detection_bullet::BulletBVHManager::getContactDistanceThreshold ( ) const

Get the contact distance threshold.

Returns: The contact distance

Definition at line 158 of file bullet_bvh_manager.cpp.

◆ hasCollisionObject()

bool collision_detection_bullet::BulletBVHManager::hasCollisionObject ( const std::string & name ) const

Find if a collision object already exists.

Parameters

name	The name of the collision object

Returns: true if it exists, otherwise false.

Definition at line 65 of file bullet_bvh_manager.cpp.

◆ removeCollisionObject()

bool collision_detection_bullet::BulletBVHManager::removeCollisionObject ( const std::string & name )

Remove an object from the checker.

Parameters

name	The name of the object

Returns: true if successfully removed, otherwise false.

Definition at line 70 of file bullet_bvh_manager.cpp.

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◆ setActiveCollisionObjects()

void collision_detection_bullet::BulletBVHManager::setActiveCollisionObjects ( const std::vector< std::string > & names )

Set which collision objects are active.

Parameters

names A vector of collision object names

Definition at line 124 of file bullet_bvh_manager.cpp.

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◆ setCollisionObjectsTransform()

void collision_detection_bullet::BulletBVHManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose
	)

Set a single static collision object's transform.

Parameters

name	The name of the object
pose	The transformation in world

Definition at line 108 of file bullet_bvh_manager.cpp.

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◆ setContactDistanceThreshold()

void collision_detection_bullet::BulletBVHManager::setContactDistanceThreshold ( double contact_distance )

Set the contact distance threshold for which collision should be considered through expanding the AABB by the contact_distance for all links.

Parameters

contact_distance The contact distance

Definition at line 145 of file bullet_bvh_manager.cpp.

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Member Data Documentation

◆ active_

std::vector<std::string> collision_detection_bullet::BulletBVHManager::active_

protected

A list of the active collision links.

Definition at line 137 of file bullet_bvh_manager.hpp.

◆ broadphase_

std::unique_ptr<btBroadphaseInterface> collision_detection_bullet::BulletBVHManager::broadphase_

protected

The bullet broadphase interface.

Definition at line 152 of file bullet_bvh_manager.hpp.

◆ coll_config_

btDefaultCollisionConfiguration collision_detection_bullet::BulletBVHManager::coll_config_

protected

The bullet collision configuration.

Definition at line 149 of file bullet_bvh_manager.hpp.

◆ contact_distance_

double collision_detection_bullet::BulletBVHManager::contact_distance_

protected

The contact distance threshold.

Definition at line 140 of file bullet_bvh_manager.hpp.

◆ dispatch_info_

btDispatcherInfo collision_detection_bullet::BulletBVHManager::dispatch_info_

protected

The bullet collision dispatcher configuration information.

Definition at line 146 of file bullet_bvh_manager.hpp.

◆ dispatcher_

std::unique_ptr<btCollisionDispatcher> collision_detection_bullet::BulletBVHManager::dispatcher_

protected

The bullet collision dispatcher used for getting object to object collision algorithm.

Definition at line 143 of file bullet_bvh_manager.hpp.

◆ filter_callback_

BroadphaseFilterCallback collision_detection_bullet::BulletBVHManager::filter_callback_

protected

Callback function for culling objects before a broadphase check.

Definition at line 155 of file bullet_bvh_manager.hpp.

◆ link2cow_

std::map<std::string, CollisionObjectWrapperPtr> collision_detection_bullet::BulletBVHManager::link2cow_

protected

A map of collision objects being managed.

Definition at line 134 of file bullet_bvh_manager.hpp.

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

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.hpp
moveit_core/collision_detection_bullet/src/bullet_integration/bullet_bvh_manager.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletBVHManager()

◆ ~BulletBVHManager()

Member Function Documentation

◆ addCollisionObject()

◆ clone()

◆ contactTest()

◆ disableCollisionObject()

◆ enableCollisionObject()

◆ getActiveCollisionObjects()

◆ getCollisionObjects()

◆ getContactDistanceThreshold()

◆ hasCollisionObject()

◆ removeCollisionObject()

◆ setActiveCollisionObjects()

◆ setCollisionObjectsTransform()

◆ setContactDistanceThreshold()

Member Data Documentation

◆ active_

◆ broadphase_

◆ coll_config_

◆ contact_distance_

◆ dispatch_info_

◆ dispatcher_

◆ filter_callback_

◆ link2cow_