implicit_sdf_collision_solver.h File Reference

Backend-neutral collision queries between implicit signed-distance shapes. More...

#include <Eigen/Geometry>
#include <array>
#include <functional>
#include <vector>

Classes
struct	tesseract::collision::ImplicitSDFShape
	An implicit shape whose signed-distance queries and bounds are expressed in world coordinates. More...
struct	tesseract::collision::ImplicitSDFCollisionConfig
	Configuration for the multi-start implicit SDF collision solver. More...
struct	tesseract::collision::ImplicitSDFContact
	Contact produced by the implicit SDF collision solver. More...

Functions
std::vector< ImplicitSDFContact >	tesseract::collision::collideImplicitSDF (const ImplicitSDFShape &shape0, const ImplicitSDFShape &shape1, const ImplicitSDFCollisionConfig &config={})
	Find contacts between two implicit signed-distance shapes.
ImplicitSDFShape	tesseract::collision::makeImplicitSDFShape (const tesseract::geometry::Geometry &geometry, const Eigen::Isometry3d &pose)
	Create a world-coordinate implicit representation of a supported Tesseract geometry.

Detailed Description

Backend-neutral collision queries between implicit signed-distance shapes.

Copyright

Copyright (c) 2026, Tesseract Robotics

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

collideImplicitSDF()

std::vector< ImplicitSDFContact > tesseract::collision::collideImplicitSDF	(	const ImplicitSDFShape &	shape0,
		const ImplicitSDFShape &	shape1,
		const ImplicitSDFCollisionConfig &	config = {}
	)

Find contacts between two implicit signed-distance shapes.

This adapts MuJoCo's multi-start SDF collision strategy: deterministic Halton seeds are optimized over the overlap of the shapes' margin-expanded AABBs using a composite collision objective and backtracking gradient descent. Contact distance and nearest points are then recovered by projecting the converged point onto both zero level sets.

Parameters

shape0	First implicit shape
shape1	Second implicit shape
config	Solver configuration

Returns

Contacts with normals directed from shape0 toward shape1

Exceptions

std::invalid_argument

If either shape or any solver configuration value is invalid

makeImplicitSDFShape()

ImplicitSDFShape tesseract::collision::makeImplicitSDFShape	(	const tesseract::geometry::Geometry &	geometry,
		const Eigen::Isometry3d &	pose
	)

Create a world-coordinate implicit representation of a supported Tesseract geometry.

Supported geometries are box, sphere, cylinder, cone, capsule, and signed distance field. This adapter is backend-neutral and is used by FCL; other backends may provide callbacks around their native distance representations and call collideImplicitSDF directly.

Parameters

geometry	Geometry to represent
pose	Geometry pose in world coordinates

Returns

A valid implicit shape when the geometry is supported, otherwise an invalid shape

Exceptions

std::invalid_argument

If the pose or supported geometry data is invalid, or if an SDF has nonuniform scale