Classes
struct	BroadphaseContactResultCallback
	Callback structure for both discrete and continuous broadphase collision pair. More...

struct	BroadphaseFilterCallback

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

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

class	BulletDiscreteBVHManager
	A bounding volume hierarchy (BVH) implementation of a discrete bullet manager. More...

struct	CastHullShape
	Casted collision shape used for checking if an object is collision free between two discrete poses. More...

class	CollisionObjectWrapper
	Tesseract bullet collision object. More...

struct	ContactTestData
	Bundles the data for a collision query. More...

struct	TesseractBroadphaseBridgedManifoldResult

class	TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...

Typedefs
template<typename T >
using	AlignedVector = std::vector< T, Eigen::aligned_allocator< T > >

template<typename Key , typename Value >
using	AlignedMap = std::map< Key, Value, std::less< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > > >

template<typename Key , typename Value >
using	AlignedUnorderedMap = std::unordered_map< Key, Value, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > > >

Enumerations
enum class	CollisionObjectType { USE_SHAPE_TYPE = 0 , CONVEX_HULL = 1 , MULTI_SPHERE = 2 , SDF = 3 }

Functions
	MOVEIT_CLASS_FORWARD (BulletBVHManager)

	MOVEIT_CLASS_FORWARD (BulletCastBVHManager)

	MOVEIT_CLASS_FORWARD (BulletDiscreteBVHManager)

	MOVEIT_CLASS_FORWARD (CollisionObjectWrapper)

bool	acmCheck (const std::string &body_1, const std::string &body_2, const collision_detection::AllowedCollisionMatrix *acm)
	Allowed = true.

btVector3	convertEigenToBt (const Eigen::Vector3d &v)
	Converts eigen vector to bullet vector.

Eigen::Vector3d	convertBtToEigen (const btVector3 &v)
	Converts bullet vector to eigen vector.

btQuaternion	convertEigenToBt (const Eigen::Quaterniond &q)
	Converts eigen quaternion to bullet quaternion.

btMatrix3x3	convertEigenToBt (const Eigen::Matrix3d &r)
	Converts eigen matrix to bullet matrix.

btTransform	convertEigenToBt (const Eigen::Isometry3d &t)
	Converts bullet transform to eigen transform.

void	getAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, float &outsupport, btVector3 &outpt)
	Computes the local supporting vertex of a convex shape.

btScalar	addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, const btCollisionObjectWrapper colObj1Wrap, ContactTestData &collisions)
	Converts a bullet contact result to MoveIt format and adds it to the result data structure.

btScalar	addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, int, const btCollisionObjectWrapper colObj1Wrap, int, ContactTestData &collisions)

bool	isOnlyKinematic (const CollisionObjectWrapper cow0, const CollisionObjectWrapper cow1)
	Checks if the collision pair is kinematic vs kinematic objects.

btCollisionShape *	createShapePrimitive (const shapes::ShapeConstPtr &geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
	Casts a geometric shape into a btCollisionShape.

void	updateCollisionObjectFilters (const std::vector< std::string > &active, CollisionObjectWrapper &cow)
	Update a collision objects filters.

CollisionObjectWrapperPtr	makeCastCollisionObject (const CollisionObjectWrapperPtr &cow)

void	updateBroadphaseAABB (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object.

void	removeCollisionObjectFromBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase.

void	addCollisionObjectToBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase.

std::pair< std::string, std::string >	getObjectPairKey (const std::string &obj1, const std::string &obj2)
	Get a key for two object to search the collision matrix.

bool	isLinkActive (const std::vector< std::string > &active, const std::string &name)
	This will check if a link is active provided a list. If the list is empty the link is considered active.

collision_detection::Contact *	processResult (ContactTestData &cdata, collision_detection::Contact &contact, const std::pair< std::string, std::string > &key, bool found)
	Stores a single contact result in the requested way.

int	createConvexHull (AlignedVector< Eigen::Vector3d > &vertices, std::vector< int > &faces, const AlignedVector< Eigen::Vector3d > &input, double shrink=-1, double shrinkClamp=-1)
	Create a convex hull from vertices using Bullet Convex Hull Computer.

void	getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const urdf::LinkConstSharedPtr &urdf_link, bool active)
	Recursively traverses robot from root to get all active links.

shapes::ShapePtr	constructShape (const urdf::Geometry *geom)

Eigen::Isometry3d	urdfPose2Eigen (const urdf::Pose &pose)

rclcpp::Logger	getLogger ()

btCollisionShape *	createShapePrimitive (const shapes::Box *geom, const CollisionObjectType &collision_object_type)

btCollisionShape *	createShapePrimitive (const shapes::Sphere *geom, const CollisionObjectType &collision_object_type)

btCollisionShape *	createShapePrimitive (const shapes::Cylinder *geom, const CollisionObjectType &collision_object_type)

btCollisionShape *	createShapePrimitive (const shapes::Cone *geom, const CollisionObjectType &collision_object_type)

btCollisionShape *	createShapePrimitive (const shapes::Mesh geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper cow)

btCollisionShape *	createShapePrimitive (const shapes::OcTree geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper cow)

Variables
const btScalar	BULLET_MARGIN = 0.0f

const btScalar	BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS

const btScalar	BULLET_LENGTH_TOLERANCE = 0.001f METERS

const btScalar	BULLET_EPSILON = 1e-3f

const btScalar	BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f

const bool	BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Typedef Documentation

◆ AlignedMap

template<typename Key , typename Value >

using collision_detection_bullet::AlignedMap = typedef std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 40 of file basic_types.h.

◆ AlignedUnorderedMap

template<typename Key , typename Value >

using collision_detection_bullet::AlignedUnorderedMap = typedef std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 43 of file basic_types.h.

◆ AlignedVector

template<typename T >

using collision_detection_bullet::AlignedVector = typedef std::vector<T, Eigen::aligned_allocator<T> >

Definition at line 37 of file basic_types.h.

Enumeration Type Documentation

◆ CollisionObjectType

enum class collision_detection_bullet::CollisionObjectType

strong

Enumerator
USE_SHAPE_TYPE	Infer the type from the type specified in the shapes::Shape class.
CONVEX_HULL	Use the mesh in shapes::Shape but make it a convex hulls collision object (if not convex it will be converted)
MULTI_SPHERE	Use the mesh and represent it by multiple spheres collision object.
SDF	Use the mesh and rpresent it by a signed distance fields collision object.

Definition at line 46 of file basic_types.h.

Function Documentation

◆ acmCheck()

bool collision_detection_bullet::acmCheck	(	const std::string &	body_1,
		const std::string &	body_2,
		const collision_detection::AllowedCollisionMatrix *	acm
	)

Allowed = true.

Definition at line 49 of file bullet_utils.cpp.

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◆ addCastSingleResult()

btScalar collision_detection_bullet::addCastSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		int	,
		const btCollisionObjectWrapper *	colObj1Wrap,
		int	,
		ContactTestData &	collisions
	)

inline

Definition at line 419 of file bullet_utils.h.

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◆ addCollisionObjectToBroadphase()

void collision_detection_bullet::addCollisionObjectToBroadphase	(	const CollisionObjectWrapperPtr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Add the collision object to broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 387 of file bullet_utils.cpp.

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◆ addDiscreteSingleResult()

btScalar collision_detection_bullet::addDiscreteSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		const btCollisionObjectWrapper *	colObj1Wrap,
		ContactTestData &	collisions
	)

inline

Converts a bullet contact result to MoveIt format and adds it to the result data structure.

Definition at line 386 of file bullet_utils.h.

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◆ constructShape()

shapes::ShapePtr collision_detection_bullet::constructShape ( const urdf::Geometry * geom )

Definition at line 70 of file ros_bullet_utils.cpp.

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◆ convertBtToEigen()

Eigen::Vector3d collision_detection_bullet::convertBtToEigen ( const btVector3 & v )

inline

Converts bullet vector to eigen vector.

Definition at line 71 of file bullet_utils.h.

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◆ convertEigenToBt() [1/4]

btTransform collision_detection_bullet::convertEigenToBt ( const Eigen::Isometry3d & t )

inline

Converts bullet transform to eigen transform.

Definition at line 92 of file bullet_utils.h.

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◆ convertEigenToBt() [2/4]

btMatrix3x3 collision_detection_bullet::convertEigenToBt ( const Eigen::Matrix3d & r )

inline

Converts eigen matrix to bullet matrix.

Definition at line 84 of file bullet_utils.h.

◆ convertEigenToBt() [3/4]

btQuaternion collision_detection_bullet::convertEigenToBt ( const Eigen::Quaterniond & q )

inline

Converts eigen quaternion to bullet quaternion.

Definition at line 77 of file bullet_utils.h.

◆ convertEigenToBt() [4/4]

btVector3 collision_detection_bullet::convertEigenToBt ( const Eigen::Vector3d & v )

inline

Converts eigen vector to bullet vector.

Definition at line 65 of file bullet_utils.h.

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◆ createConvexHull()

int collision_detection_bullet::createConvexHull	(	AlignedVector< Eigen::Vector3d > &	vertices,
		std::vector< int > &	faces,
		const AlignedVector< Eigen::Vector3d > &	input,
		double	shrink = `-1`,
		double	shrinkClamp = `-1`
	)

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters

(Output)	vertices A vector of vertices
(Output)	faces The first values indicates the number of vertices that define the face followed by the vertice index
(input)	input A vector of point to create a convex hull from
(input)	shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)	shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.

Returns: The number of faces. If less than zero an error occurred when trying to create the convex hull

Definition at line 123 of file contact_checker_common.cpp.

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◆ createShapePrimitive() [1/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::Box *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 84 of file bullet_utils.cpp.

◆ createShapePrimitive() [2/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::Cone *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 112 of file bullet_utils.cpp.

◆ createShapePrimitive() [3/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::Cylinder *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 103 of file bullet_utils.cpp.

◆ createShapePrimitive() [4/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::Mesh *	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Definition at line 121 of file bullet_utils.cpp.

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◆ createShapePrimitive() [5/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::OcTree *	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Definition at line 200 of file bullet_utils.cpp.

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◆ createShapePrimitive() [6/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::ShapeConstPtr &	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Casts a geometric shape into a btCollisionShape.

Definition at line 400 of file bullet_utils.cpp.

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◆ createShapePrimitive() [7/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::Sphere *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 96 of file bullet_utils.cpp.

◆ getActiveLinkNamesRecursive()

void collision_detection_bullet::getActiveLinkNamesRecursive	(	std::vector< std::string > &	active_links,
		const urdf::LinkConstSharedPtr &	urdf_link,
		bool	active
	)

Recursively traverses robot from root to get all active links.

Parameters

active_links	Stores the active links
urdf_link	The current urdf link representation
active	Indicates if link is considered active

Definition at line 42 of file ros_bullet_utils.cpp.

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◆ getAverageSupport()

void collision_detection_bullet::getAverageSupport	(	const btConvexShape *	shape,
		const btVector3 &	localNormal,
		float &	outsupport,
		btVector3 &	outpt
	)

inline

Computes the local supporting vertex of a convex shape.

If multiple vertices with equal support products exists, their average is calculated and returned.

Parameters

shape	The convex shape to check
localNormal	The support direction to search for in shape local coordinates
outsupport	The value of the calculated support mapping
outpt	The computed support point

Definition at line 344 of file bullet_utils.h.

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◆ getLogger()

rclcpp::Logger collision_detection_bullet::getLogger ( )

Definition at line 116 of file ros_bullet_utils.cpp.

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◆ getObjectPairKey()

std::pair< std::string, std::string > collision_detection_bullet::getObjectPairKey	(	const std::string &	obj1,
		const std::string &	obj2
	)

inline

Get a key for two object to search the collision matrix.

Parameters

obj1	First collision object name
obj2	Second collision object name

Returns: The collision pair key

Definition at line 40 of file contact_checker_common.h.

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◆ isLinkActive()

bool collision_detection_bullet::isLinkActive	(	const std::vector< std::string > &	active,
		const std::string &	name
	)

inline

This will check if a link is active provided a list. If the list is empty the link is considered active.

Parameters

active	List of active link names
name	The name of link to check if it is active.

Definition at line 50 of file contact_checker_common.h.

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◆ isOnlyKinematic()

bool collision_detection_bullet::isOnlyKinematic	(	const CollisionObjectWrapper *	cow0,
		const CollisionObjectWrapper *	cow1
	)

inline

Checks if the collision pair is kinematic vs kinematic objects.

Definition at line 520 of file bullet_utils.h.

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◆ makeCastCollisionObject()

CollisionObjectWrapperPtr collision_detection_bullet::makeCastCollisionObject ( const CollisionObjectWrapperPtr & cow )

Definition at line 293 of file bullet_utils.cpp.

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◆ MOVEIT_CLASS_FORWARD() [1/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletBVHManager )

◆ MOVEIT_CLASS_FORWARD() [2/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletCastBVHManager )

◆ MOVEIT_CLASS_FORWARD() [3/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( BulletDiscreteBVHManager )

◆ MOVEIT_CLASS_FORWARD() [4/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD ( CollisionObjectWrapper )

◆ processResult()

collision_detection::Contact * collision_detection_bullet::processResult	(	ContactTestData &	cdata,
		collision_detection::Contact &	contact,
		const std::pair< std::string, std::string > &	key,
		bool	found
	)

Stores a single contact result in the requested way.

Parameters

found Indicates if a contact for this pair of objects has already been found

Returns: Pointer to the newly inserted contact

Definition at line 44 of file contact_checker_common.cpp.

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◆ removeCollisionObjectFromBroadphase()

void collision_detection_bullet::removeCollisionObjectFromBroadphase	(	const CollisionObjectWrapperPtr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

inline

Remove the collision object from broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 692 of file bullet_utils.h.

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◆ updateBroadphaseAABB()

void collision_detection_bullet::updateBroadphaseAABB	(	const CollisionObjectWrapperPtr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

inline

Update the Broadphase AABB for the input collision object.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 677 of file bullet_utils.h.

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◆ updateCollisionObjectFilters()

void collision_detection_bullet::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		CollisionObjectWrapper &	cow
	)

Update a collision objects filters.

Parameters

active	A list of active collision objects
cow	The collision object to update.
continuous	Indicate if the object is a continuous collision object.

Currently continuous collision objects can only be checked against static objects. Continuous to Continuous collision checking is currently not supports. TODO LEVI: Add support for Continuous to Continuous collision checking.

Definition at line 270 of file bullet_utils.cpp.

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◆ urdfPose2Eigen()

Eigen::Isometry3d collision_detection_bullet::urdfPose2Eigen ( const urdf::Pose & pose )

Definition at line 107 of file ros_bullet_utils.cpp.

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Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

const bool collision_detection_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Definition at line 56 of file bullet_utils.h.

◆ BULLET_DEFAULT_CONTACT_DISTANCE

const btScalar collision_detection_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f

Definition at line 55 of file bullet_utils.h.

◆ BULLET_EPSILON

const btScalar collision_detection_bullet::BULLET_EPSILON = 1e-3f

Definition at line 54 of file bullet_utils.h.

◆ BULLET_LENGTH_TOLERANCE

const btScalar collision_detection_bullet::BULLET_LENGTH_TOLERANCE = 0.001f METERS

Definition at line 53 of file bullet_utils.h.

◆ BULLET_MARGIN

const btScalar collision_detection_bullet::BULLET_MARGIN = 0.0f

Definition at line 51 of file bullet_utils.h.

◆ BULLET_SUPPORT_FUNC_TOLERANCE

const btScalar collision_detection_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS

Definition at line 52 of file bullet_utils.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ AlignedMap

◆ AlignedUnorderedMap

◆ AlignedVector

Enumeration Type Documentation

◆ CollisionObjectType

Function Documentation

◆ acmCheck()

◆ addCastSingleResult()

◆ addCollisionObjectToBroadphase()

◆ addDiscreteSingleResult()

◆ constructShape()

◆ convertBtToEigen()

◆ convertEigenToBt() [1/4]

◆ convertEigenToBt() [2/4]

◆ convertEigenToBt() [3/4]

◆ convertEigenToBt() [4/4]

◆ createConvexHull()

◆ createShapePrimitive() [1/7]

◆ createShapePrimitive() [2/7]

◆ createShapePrimitive() [3/7]

◆ createShapePrimitive() [4/7]

◆ createShapePrimitive() [5/7]

◆ createShapePrimitive() [6/7]

◆ createShapePrimitive() [7/7]

◆ getActiveLinkNamesRecursive()

◆ getAverageSupport()

◆ getLogger()

◆ getObjectPairKey()

◆ isLinkActive()

◆ isOnlyKinematic()

◆ makeCastCollisionObject()

◆ MOVEIT_CLASS_FORWARD() [1/4]

◆ MOVEIT_CLASS_FORWARD() [2/4]

◆ MOVEIT_CLASS_FORWARD() [3/4]

◆ MOVEIT_CLASS_FORWARD() [4/4]

◆ processResult()

◆ removeCollisionObjectFromBroadphase()

◆ updateBroadphaseAABB()

◆ updateCollisionObjectFilters()

◆ urdfPose2Eigen()

Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

◆ BULLET_DEFAULT_CONTACT_DISTANCE

◆ BULLET_EPSILON

◆ BULLET_LENGTH_TOLERANCE

◆ BULLET_MARGIN

◆ BULLET_SUPPORT_FUNC_TOLERANCE