collision_detection_bullet::BulletCastBVHManager Class Reference

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

#include <bullet_cast_bvh_manager.h>

Inheritance diagram for collision_detection_bullet::BulletCastBVHManager:

Collaboration diagram for collision_detection_bullet::BulletCastBVHManager:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BulletCastBVHManager ()=default
	Constructor.
	~BulletCastBVHManager () override=default
BulletCastBVHManagerPtr	clone () const
	Clone the manager.
void	setCastCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose1, const Eigen::Isometry3d &pose2)
	Set a single cast (moving) collision object's transforms.
void	contactTest (collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self) override
	Perform a contact test for all objects.
void	addCollisionObject (const CollisionObjectWrapperPtr &cow) override
	Add a tesseract collision object to the manager.
Public Member Functions inherited from collision_detection_bullet::BulletBVHManager
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.
const std::map< std::string, CollisionObjectWrapperPtr > &	getCollisionObjects () const

Additional Inherited Members
Protected Attributes inherited from collision_detection_bullet::BulletBVHManager
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 45 of file bullet_cast_bvh_manager.h.

Constructor & Destructor Documentation

BulletCastBVHManager()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision_detection_bullet::BulletCastBVHManager::BulletCastBVHManager ( )

default

Constructor.

~BulletCastBVHManager()

collision_detection_bullet::BulletCastBVHManager::~BulletCastBVHManager ( )

overridedefault

Member Function Documentation

addCollisionObject()

void collision_detection_bullet::BulletCastBVHManager::addCollisionObject ( const CollisionObjectWrapperPtr &  cow )

overridevirtual

Add a tesseract collision object to the manager.

Parameters

cow	The tesseract bullet collision object

Implements collision_detection_bullet::BulletBVHManager.

Definition at line 151 of file bullet_cast_bvh_manager.cpp.

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clone()

BulletCastBVHManagerPtr collision_detection_bullet::BulletCastBVHManager::clone

(

)

const

Clone the manager.

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

Definition at line 44 of file bullet_cast_bvh_manager.cpp.

contactTest()

void collision_detection_bullet::BulletCastBVHManager::contactTest ( collision_detection::CollisionResult &  collisions, const collision_detection::CollisionRequest &  req, const collision_detection::AllowedCollisionMatrix *  acm, bool  self = false  )

overridevirtual

Perform a contact test for all objects.

Parameters

collisions	The Contact results data
req	The collision request data
acm	The allowed collision matrix

Implements collision_detection_bullet::BulletBVHManager.

Definition at line 136 of file bullet_cast_bvh_manager.cpp.

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setCastCollisionObjectsTransform()

void collision_detection_bullet::BulletCastBVHManager::setCastCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose1,
		const Eigen::Isometry3d &	pose2
	)

Set a single cast (moving) collision object's transforms.

This should only be used for moving objects.

Parameters

name	The name of the object
pose1	The start transformation in world
pose2	The end transformation in world

Definition at line 66 of file bullet_cast_bvh_manager.cpp.

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

• moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h
• moveit_core/collision_detection_bullet/src/bullet_integration/bullet_cast_bvh_manager.cpp