common.cpp File Reference

This is a collection of common methods. More...

#include <tesseract/common/macros.h>
#include <cassert>
#include <console_bridge/console.h>
#include <tesseract/common/utils.h>
#include <tesseract/common/types.h>
#include <tesseract/collision/common.h>
#include <tesseract/collision/contact_result_validator.h>

Functions
std::vector< tesseract::common::LinkIdPair >	tesseract::collision::getCollisionObjectPairs (const std::vector< tesseract::common::LinkId > &active_links, const std::vector< tesseract::common::LinkId > &static_links, const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &validator=nullptr)
	Get a vector of possible collision object pairs.
bool	tesseract::collision::isLinkActive (const std::unordered_set< tesseract::common::LinkId > &active, const tesseract::common::LinkId &id)
	This will check if a link is active provided a set. If the set is empty the link is considered active.
bool	tesseract::collision::isContactAllowed (const tesseract::common::LinkIdPair &pair, const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &validator, bool verbose=false)
	Determine if contact is allowed between two objects.
bool	tesseract::collision::isContactAllowed (const tesseract::common::LinkId &id1, const tesseract::common::LinkId &id2, const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &validator, bool verbose=false)
	Determine if contact is allowed between two objects (two-id overload; resolves the pair only when a validator decision requires it, and logs in caller argument order).
ContactResult *	tesseract::collision::processResult (ContactTestData &cdata, ContactResult &contact, const tesseract::common::LinkIdPair &key, double margin, bool found)
	processResult Processes the ContactResult based on the information in the ContactTestData
void	tesseract::collision::scaleVertices (tesseract::common::VectorVector3d &vertices, const Eigen::Vector3d &center, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates.
void	tesseract::collision::scaleVertices (tesseract::common::VectorVector3d &vertices, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates.

Detailed Description

This is a collection of common methods.

Author

Levi Armstrong

Date

Dec 18, 2017

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

getCollisionObjectPairs()

std::vector< tesseract::common::LinkIdPair > tesseract::collision::getCollisionObjectPairs	(	const std::vector< tesseract::common::LinkId > &	active_links,
		const std::vector< tesseract::common::LinkId > &	static_links,
		const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &	validator = nullptr
	)

Get a vector of possible collision object pairs.

Todo:

Should this also filter out links without geometry?

Parameters

active_links	The active link names
static_links	The static link names
validator	The is contact allowed validator

Returns

A vector of collision object pairs

isLinkActive()

bool tesseract::collision::isLinkActive	(	const std::unordered_set< tesseract::common::LinkId > &	active,
		const tesseract::common::LinkId &	id
	)

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

Parameters

active	Set of active LinkIds
id	The LinkId to check if it is active.

isContactAllowed() [1/2]

bool tesseract::collision::isContactAllowed	(	const tesseract::common::LinkIdPair &	pair,
		const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &	validator,
		bool	verbose = false
	)

Determine if contact is allowed between two objects.

Parameters

pair	The LinkId pair
validator	The contact allowed validator
verbose	If true print debug information

Returns

True if contact is allowed between the two object, otherwise false.

isContactAllowed() [2/2]

bool tesseract::collision::isContactAllowed	(	const tesseract::common::LinkId &	id1,
		const tesseract::common::LinkId &	id2,
		const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &	validator,
		bool	verbose = false
	)

Determine if contact is allowed between two objects (two-id overload; resolves the pair only when a validator decision requires it, and logs in caller argument order).

Parameters

id1	The id of the first object
id2	The id of the second object
validator	The contact allowed validator
verbose	If true print debug information

Returns

True if contact is allowed between the two object, otherwise false.

processResult()

ContactResult * tesseract::collision::processResult	(	ContactTestData &	cdata,
		ContactResult &	contact,
		const tesseract::common::LinkIdPair &	key,
		double	margin,
		bool	found
	)

processResult Processes the ContactResult based on the information in the ContactTestData

Parameters

cdata	Information used to process the results
contact	Contacts from the collision checkers that will be processed
key	Link pair used as a key to look up pair specific settings
margin	The collision margin already resolved for key
found	Specifies whether or not a collision has already been found

Returns

Pointer to the ContactResult.

scaleVertices() [1/2]

void tesseract::collision::scaleVertices	(	tesseract::common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	center,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
center	The point at which to scale the data about
scale	The scale factor to apply to the vertices.

scaleVertices() [2/2]

void tesseract::collision::scaleVertices	(	tesseract::common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
scale	The scale factor to apply to the vertices.