collision_common.cpp File Reference

#include <moveit/collision_detection_fcl/collision_common.h>
#include <geometric_shapes/shapes.h>
#include <moveit/collision_detection_fcl/fcl_compat.h>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <moveit/utils/logger.hpp>
#include <fcl/geometry/bvh/BVH_model.h>
#include <fcl/geometry/octree/octree.h>
#include <memory>
#include <type_traits>
#include <mutex>

Include dependency graph for collision_common.cpp:

Go to the source code of this file.

Classes
struct	collision_detection::FCLShapeCache
	Cache for an arbitrary type of shape. It is assigned during the execution of createCollisionGeometry(). More...

Namespaces
namespace	collision_detection

Functions
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.
template<typename BV , typename T >
FCLShapeCache &	collision_detection::getShapeCache ()
template<typename BV , typename T >
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV).
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.
template<typename BV , typename T >
FCLGeometryConstPtr	collision_detection::createCollisionGeometry (const shapes::ShapeConstPtr &shape, double scale, double padding, const T *data, int shape_index)
	Templated helper function creating new collision geometry out of general object using an arbitrary bounding volume (BV). This can include padding and scaling.
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.