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 <set>
#include <console_bridge/console.h>
#include <tesseract_collision/core/types.h>
#include <tesseract_collision/core/common.h>
#include <tesseract_collision/fcl/fcl_collision_object_wrapper.h>

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Classes
class	tesseract_collision::tesseract_collision_fcl::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...

Namespaces
namespace	tesseract_collision
namespace	tesseract_collision::tesseract_collision_fcl

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

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

Functions
CollisionGeometryPtr	tesseract_collision::tesseract_collision_fcl::createShapePrimitive (const CollisionShapeConstPtr &geom)
COW::Ptr	tesseract_collision::tesseract_collision_fcl::createFCLCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled)
void	tesseract_collision::tesseract_collision_fcl::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. More...
bool	tesseract_collision::tesseract_collision_fcl::collisionCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)
bool	tesseract_collision::tesseract_collision_fcl::distanceCallback (fcl::CollisionObjectd *o1, fcl::CollisionObjectd *o2, void *data)

Detailed Description

Tesseract ROS FCL Utility Functions.

Author

Levi Armstrong

Date

Dec 18, 2017

Version

TODO

Bug:

No known bugs

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.