Tesseract
Motion Planning Environment
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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>
Include dependency graph for fcl_utils.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
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.