fcl_utils.h File Reference

Tesseract ROS FCL Utility Functions. More...

#include <tesseract/common/macros.h>
#include <fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h>
#include <fcl/narrowphase/collision-inl.h>
#include <fcl/narrowphase/distance-inl.h>
#include <memory>
#include <console_bridge/console.h>
#include <tesseract/collision/types.h>
#include <tesseract/collision/common.h>
#include <tesseract/collision/fcl/fcl_collision_object_wrapper.h>

Classes
class	tesseract::collision::fcl_internal::CollisionObjectWrapper
	This is a Tesseract link collision object wrapper which add items specific to tesseract. It is a wrapper around a tesseract link which may contain several collision objects. More...

Typedefs
using	tesseract::collision::fcl_internal::CollisionGeometryPtr = std::shared_ptr< fcl::CollisionGeometryd >
using	tesseract::collision::fcl_internal::CollisionObjectPtr = std::shared_ptr< FCLCollisionObjectWrapper >
using	tesseract::collision::fcl_internal::CollisionObjectRawPtr = fcl::CollisionObjectd *
using	tesseract::collision::fcl_internal::CollisionObjectConstPtr = std::shared_ptr< const fcl::CollisionObjectd >
using	tesseract::collision::fcl_internal::COW = CollisionObjectWrapper
using	tesseract::collision::fcl_internal::Link2COW = std::map< std::string, COW::Ptr >
using	tesseract::collision::fcl_internal::Link2ConstCOW = std::map< std::string, COW::ConstPtr >

Enumerations
enum	CollisionFilterGroups : std::int8_t { DefaultFilter = 1 , StaticFilter = 2 , KinematicFilter = 4 , AllFilter = -1 }

Functions
CollisionGeometryPtr	tesseract::collision::fcl_internal::createShapePrimitive (const CollisionShapeConstPtr &geom)
COW::Ptr	tesseract::collision::fcl_internal::createFCLCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract::common::VectorIsometry3d &shape_poses, bool enabled)
void	tesseract::collision::fcl_internal::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &static_manager, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &dynamic_manager)
	Update collision objects filters.
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

updateCollisionObjectFilters()

void tesseract::collision::fcl_internal::updateCollisionObjectFilters ( const std::vector< std::string > &  active, const COW::Ptr &  cow, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &  static_manager, const std::unique_ptr< fcl::BroadPhaseCollisionManagerd > &  dynamic_manager  )

inline

Update collision objects filters.

Parameters

active	The active collision objects
cow	The collision object to update
static_manager	Broadphasse manager for static objects
dynamic_manager	Broadphase manager for dynamic objects

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