collision_common.h File Reference

#include <moveit/collision_detection/world.h>
#include <moveit/collision_detection/collision_env.h>
#include <moveit/macros/class_forward.h>
#include <moveit/collision_detection_fcl/fcl_compat.h>
#include <geometric_shapes/check_isometry.h>
#include <fcl/broadphase/broadphase_collision_manager.h>
#include <fcl/narrowphase/collision.h>
#include <fcl/narrowphase/distance.h>
#include <memory>
#include <set>

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Classes
struct	collision_detection::CollisionGeometryData
	Wrapper around world, link and attached objects' geometry data. More...
struct	collision_detection::CollisionData
	Data structure which is passed to the collision callback function of the collision manager. More...
struct	collision_detection::DistanceData
	Data structure which is passed to the distance callback function of the collision manager. More...
struct	collision_detection::FCLGeometry
	Bundles the CollisionGeometryData and FCL collision geometry representation into a single class. More...
struct	collision_detection::FCLObject
	A general high-level object which consists of multiple FCLCollisionObjects. It is the top level data structure which is used in the collision checking process. More...
struct	collision_detection::FCLManager
	Bundles an FCLObject and a broadphase FCL collision manager. More...

Namespaces
namespace	collision_detection

Typedefs
typedef std::shared_ptr< fcl::CollisionObjectd >	collision_detection::FCLCollisionObjectPtr
typedef std::shared_ptr< const fcl::CollisionObjectd >	collision_detection::FCLCollisionObjectConstPtr

Functions
	collision_detection::MOVEIT_STRUCT_FORWARD (CollisionGeometryData)
	collision_detection::MOVEIT_STRUCT_FORWARD (FCLGeometry)
bool	collision_detection::collisionCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
	Callback function used by the FCLManager used for each pair of collision objects to calculate object contact information.
bool	collision_detection::distanceCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data, double &min_dist)
	Callback function used by the FCLManager used for each pair of collision objects to calculate collisions and distances.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::LinkModel *link, int shape_index)
	Create new FCLGeometry object out of robot link model.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, const moveit::core::AttachedBody *ab, int shape_index)
	Create new FCLGeometry object out of attached body.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, const World::Object *obj)
	Create new FCLGeometry object out of a world object.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::LinkModel *link, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of robot link model.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const moveit::core::AttachedBody *ab, int shape_index)
	Create new scaled and / or padded FCLGeometry object out of an attached body.
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const World::Object *obj)
	Create new scaled and / or padded FCLGeometry object out of an world object.
void	collision_detection::cleanCollisionGeometryCache ()
	Increases the counter of the caches which can trigger the cleaning of expired entries from them.
void	collision_detection::transform2fcl (const Eigen::Isometry3d &b, fcl::Transform3d &f)
	Transforms an Eigen Isometry3d to FCL coordinate transformation.
fcl::Transform3d	collision_detection::transform2fcl (const Eigen::Isometry3d &b)
	Transforms an Eigen Isometry3d to FCL coordinate transformation.
void	collision_detection::fcl2contact (const fcl::Contactd &fc, Contact &c)
	Transforms an FCL contact into a MoveIt contact point.
void	collision_detection::fcl2costsource (const fcl::CostSourced &fcs, CostSource &cs)
	Transforms the FCL internal representation to the MoveIt CostSource data structure.