Tesseract bullet collision object. More...

#include <bullet_utils.h>

Inheritance diagram for collision_detection_bullet::CollisionObjectWrapper:

Collaboration diagram for collision_detection_bullet::CollisionObjectWrapper:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, bool active=true)
	Standard constructor.

	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, const std::set< std::string > &touch_links)
	Constructor for attached robot objects.

const std::string &	getName () const
	Get the collision object name.

const collision_detection::BodyType &	getTypeID () const
	Get a user defined type.

bool	sameObject (const CollisionObjectWrapper &other) const
	Check if two CollisionObjectWrapper objects point to the same source object.

void	getAABB (btVector3 &aabb_min, btVector3 &aabb_max) const
	Get the collision objects axis aligned bounding box.

std::shared_ptr< CollisionObjectWrapper >	clone ()
	Clones the collision objects but not the collision shape which is const.

template<class T >
void	manage (T *t)
	Manage memory of a raw pointer shape.

template<class T >
void	manage (std::shared_ptr< T > t)
	Manage memory of a shared pointer shape.

Public Attributes
short int	m_collisionFilterGroup
	Bitfield specifies to which group the object belongs.

short int	m_collisionFilterMask
	Bitfield specifies against which other groups the object is collision checked.

bool	m_enabled { true }
	Indicates if the collision object is used for a collision check.

std::set< std::string >	touch_links
	The robot links the collision objects is allowed to touch.

Protected Member Functions
	CollisionObjectWrapper (const std::string &name, const collision_detection::BodyType &type_id, const std::vector< shapes::ShapeConstPtr > &shapes, const AlignedVector< Eigen::Isometry3d > &shape_poses, const std::vector< CollisionObjectType > &collision_object_types, const std::vector< std::shared_ptr< void > > &data)
	Special constructor used by the clone method.

Protected Attributes
std::string	name_
	The name of the object, must be unique.

collision_detection::BodyType	type_id_

std::vector< shapes::ShapeConstPtr >	shapes_
	The shapes that define the collision object.

AlignedVector< Eigen::Isometry3d >	shape_poses_
	The poses of the shapes, must be same length as m_shapes.

std::vector< CollisionObjectType >	collision_object_types_
	The shape collision object type to be used.

std::vector< std::shared_ptr< void > >	data_
	Manages the collision shape pointer so they get destroyed.

Detailed Description

Tesseract bullet collision object.

A wrapper around bullet's collision object which contains specific information related to bullet. One of the main differences is that a bullet collision object has a single world transformation and all shapes have transformation relative to this world transform. The default collision object category is active and active objects are checked against active objects and static objects whereas static objects are only checked against active ones.

Definition at line 109 of file bullet_utils.h.

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		bool	active = `true`
	)

Standard constructor.

Parameters

shape_poses Assumes all poses are in a single global frame

Definition at line 542 of file bullet_utils.cpp.

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◆ CollisionObjectWrapper() [2/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		const std::set< std::string > &	touch_links
	)

Constructor for attached robot objects.

Parameters

shape_poses These poses are in the global (planning) frame

Definition at line 607 of file bullet_utils.cpp.

◆ CollisionObjectWrapper() [3/3]

collision_detection_bullet::CollisionObjectWrapper::CollisionObjectWrapper	(	const std::string &	name,
		const collision_detection::BodyType &	type_id,
		const std::vector< shapes::ShapeConstPtr > &	shapes,
		const AlignedVector< Eigen::Isometry3d > &	shape_poses,
		const std::vector< CollisionObjectType > &	collision_object_types,
		const std::vector< std::shared_ptr< void > > &	data
	)

protected

Special constructor used by the clone method.

Definition at line 617 of file bullet_utils.cpp.

Member Function Documentation

◆ clone()

std::shared_ptr< CollisionObjectWrapper > collision_detection_bullet::CollisionObjectWrapper::clone ( )

inline

Clones the collision objects but not the collision shape which is const.

Returns: Shared Pointer to the cloned collision object

Definition at line 181 of file bullet_utils.h.

◆ getAABB()

void collision_detection_bullet::CollisionObjectWrapper::getAABB	(	btVector3 &	aabb_min,
		btVector3 &	aabb_max
	)		const

inline

Get the collision objects axis aligned bounding box.

Parameters

aabb_min	The minimum point
aabb_max	The maximum point

Definition at line 169 of file bullet_utils.h.

◆ getName()

const std::string & collision_detection_bullet::CollisionObjectWrapper::getName ( ) const

inline

Get the collision object name.

Definition at line 144 of file bullet_utils.h.

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◆ getTypeID()

const collision_detection::BodyType & collision_detection_bullet::CollisionObjectWrapper::getTypeID ( ) const

inline

Get a user defined type.

Definition at line 150 of file bullet_utils.h.

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◆ manage() [1/2]

template<class T >

void collision_detection_bullet::CollisionObjectWrapper::manage ( std::shared_ptr< T > t )

inline

Manage memory of a shared pointer shape.

Definition at line 205 of file bullet_utils.h.

◆ manage() [2/2]

template<class T >

void collision_detection_bullet::CollisionObjectWrapper::manage ( T * t )

inline

Manage memory of a raw pointer shape.

Definition at line 198 of file bullet_utils.h.

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◆ sameObject()

bool collision_detection_bullet::CollisionObjectWrapper::sameObject ( const CollisionObjectWrapper & other ) const

inline

Check if two CollisionObjectWrapper objects point to the same source object.

Returns: True if same objects, false otherwise

Definition at line 157 of file bullet_utils.h.

Member Data Documentation

◆ collision_object_types_

std::vector<CollisionObjectType> collision_detection_bullet::CollisionObjectWrapper::collision_object_types_

protected

The shape collision object type to be used.

Definition at line 230 of file bullet_utils.h.

◆ data_

std::vector<std::shared_ptr<void> > collision_detection_bullet::CollisionObjectWrapper::data_

protected

Manages the collision shape pointer so they get destroyed.

Definition at line 233 of file bullet_utils.h.

◆ m_collisionFilterGroup

short int collision_detection_bullet::CollisionObjectWrapper::m_collisionFilterGroup

Bitfield specifies to which group the object belongs.

Definition at line 132 of file bullet_utils.h.

◆ m_collisionFilterMask

short int collision_detection_bullet::CollisionObjectWrapper::m_collisionFilterMask

Bitfield specifies against which other groups the object is collision checked.

Definition at line 135 of file bullet_utils.h.

◆ m_enabled

bool collision_detection_bullet::CollisionObjectWrapper::m_enabled { true }

Indicates if the collision object is used for a collision check.

Definition at line 138 of file bullet_utils.h.

◆ name_

std::string collision_detection_bullet::CollisionObjectWrapper::name_

protected

The name of the object, must be unique.

Definition at line 219 of file bullet_utils.h.

◆ shape_poses_

AlignedVector<Eigen::Isometry3d> collision_detection_bullet::CollisionObjectWrapper::shape_poses_

protected

The poses of the shapes, must be same length as m_shapes.

Definition at line 227 of file bullet_utils.h.

◆ shapes_

std::vector<shapes::ShapeConstPtr> collision_detection_bullet::CollisionObjectWrapper::shapes_

protected

The shapes that define the collision object.

Definition at line 224 of file bullet_utils.h.

◆ touch_links

std::set<std::string> collision_detection_bullet::CollisionObjectWrapper::touch_links

The robot links the collision objects is allowed to touch.

Definition at line 141 of file bullet_utils.h.

◆ type_id_

collision_detection::BodyType collision_detection_bullet::CollisionObjectWrapper::type_id_

protected

Definition at line 221 of file bullet_utils.h.

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

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CollisionObjectWrapper() [1/3]

◆ CollisionObjectWrapper() [2/3]

◆ CollisionObjectWrapper() [3/3]

Member Function Documentation

◆ clone()

◆ getAABB()

◆ getName()

◆ getTypeID()

◆ manage() [1/2]

◆ manage() [2/2]

◆ sameObject()

Member Data Documentation

◆ collision_object_types_

◆ data_

◆ m_collisionFilterGroup

◆ m_collisionFilterMask

◆ m_enabled

◆ name_

◆ shape_poses_

◆ shapes_

◆ touch_links

◆ type_id_