Tesseract ROS FCL Utility Functions. More...

#include <tesseract/common/macros.h>
#include <fcl/geometry/bvh/BVH_model-inl.h>
#include <fcl/geometry/shape/box-inl.h>
#include <fcl/geometry/shape/cylinder-inl.h>
#include <fcl/geometry/shape/convex-inl.h>
#include <fcl/geometry/shape/plane-inl.h>
#include <fcl/geometry/shape/sphere-inl.h>
#include <fcl/geometry/shape/cone-inl.h>
#include <fcl/geometry/shape/capsule-inl.h>
#include <fcl/geometry/octree/octree-inl.h>
#include <memory>
#include <stdexcept>
#include <tesseract/collision/fcl/fcl_utils.h>
#include <tesseract/collision/fcl/fcl_collision_geometry_cache.h>
#include <tesseract/geometry/geometries.h>

Functions
CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Plane::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Box::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Sphere::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Cylinder::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Cone::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Capsule::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Mesh::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::ConvexMesh::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const tesseract::geometry::Octree::ConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitiveHelper (const CollisionShapeConstPtr &geom)

CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const CollisionShapeConstPtr &geom)

bool	tesseract::collision::fcl_internal::needsCollisionCheck (const CollisionObjectWrapper cd1, const CollisionObjectWrapper cd2, const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &validator, bool verbose)
	This is used to check if a collision check is required between the provided two collision objects.

bool	tesseract::collision::fcl_internal::collisionCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data)

bool	tesseract::collision::fcl_internal::distanceCallback (fcl::CollisionObjectd o1, fcl::CollisionObjectd o2, void *data)

Detailed Description

Tesseract ROS FCL Utility Functions.

Author: Levi Armstrong

Date: Dec 18, 2017

Copyright: Copyright (c) 2017, Southwest Research Institute

License: Software License Agreement (BSD)

: All rights reserved.

: Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

: THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

◆ needsCollisionCheck()

bool tesseract::collision::fcl_internal::needsCollisionCheck	(	const CollisionObjectWrapper *	cd1,
		const CollisionObjectWrapper *	cd2,
		const std::shared_ptr< const tesseract::common::ContactAllowedValidator > &	validator,
		bool	verbose
	)

This is used to check if a collision check is required between the provided two collision objects.

Parameters

cow1	The first collision object
cow2	The second collision object
validator	The contact allowed validator
verbose	Indicate if verbose information should be printed to the terminal

Returns: True if the two collision objects should be checked for collision, otherwise false