tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper Class Reference

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...

#include <fcl_utils.h>

Collaboration diagram for tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper:

Public Types
using	Ptr = std::shared_ptr< CollisionObjectWrapper >
using	ConstPtr = std::shared_ptr< const CollisionObjectWrapper >

Public Member Functions
	CollisionObjectWrapper ()=default
	CollisionObjectWrapper (std::string name, const int &type_id, CollisionShapesConst shapes, tesseract_common::VectorIsometry3d shape_poses)
const std::string &	getName () const
const int &	getTypeID () const
bool	sameObject (const CollisionObjectWrapper &other) const
	Check if two objects point to the same source object. More...
const CollisionShapesConst &	getCollisionGeometries () const
const tesseract_common::VectorIsometry3d &	getCollisionGeometriesTransforms () const
void	setCollisionObjectsTransform (const Eigen::Isometry3d &pose)
void	setContactDistanceThreshold (double contact_distance)
double	getContactDistanceThreshold () const
const Eigen::Isometry3d &	getCollisionObjectsTransform () const
const std::vector< CollisionObjectPtr > &	getCollisionObjects () const
std::vector< CollisionObjectPtr > &	getCollisionObjects ()
const std::vector< CollisionObjectRawPtr > &	getCollisionObjectsRaw () const
std::vector< CollisionObjectRawPtr > &	getCollisionObjectsRaw ()
std::shared_ptr< CollisionObjectWrapper >	clone () const
int	getShapeIndex (const fcl::CollisionObjectd *co) const
	Given fcl collision shape get the index to the links collision shape. More...

Public Attributes
short int	m_collisionFilterGroup { CollisionFilterGroups::KinematicFilter }
short int	m_collisionFilterMask { CollisionFilterGroups::StaticFilter | CollisionFilterGroups::KinematicFilter }
bool	m_enabled { true }

Protected Attributes
std::string	name_
int	type_id_ { -1 }
Eigen::Isometry3d	world_pose_ { Eigen::Isometry3d::Identity() }
	Collision Object World Transformation. More...
CollisionShapesConst	shapes_
tesseract_common::VectorIsometry3d	shape_poses_
std::vector< CollisionGeometryPtr >	collision_geometries_
std::vector< CollisionObjectPtr >	collision_objects_
std::vector< CollisionObjectRawPtr >	collision_objects_raw_
	The raw pointer is also stored because FCL accepts vectors for batch process. Note: They are updating the API to Shared Pointers but the broadphase has not been updated yet. More...
double	contact_distance_ { 0 }
	The contact distance threshold. More...

Detailed Description

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.

Member Typedef Documentation

ConstPtr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::ConstPtr = std::shared_ptr<const CollisionObjectWrapper>

Ptr

using tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::Ptr = std::shared_ptr<CollisionObjectWrapper>

Constructor & Destructor Documentation

CollisionObjectWrapper() [1/2]

tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::CollisionObjectWrapper ( )

default

CollisionObjectWrapper() [2/2]

tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::CollisionObjectWrapper	(	std::string	name,
		const int &	type_id,
		CollisionShapesConst	shapes,
		tesseract_common::VectorIsometry3d	shape_poses
	)

Member Function Documentation

clone()

std::shared_ptr< CollisionObjectWrapper > tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::clone ( ) const

inline

getCollisionGeometries()

const CollisionShapesConst & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionGeometries ( ) const

inline

getCollisionGeometriesTransforms()

const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionGeometriesTransforms ( ) const

inline

getCollisionObjects() [1/2]

std::vector< CollisionObjectPtr > & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjects ( )

inline

getCollisionObjects() [2/2]

const std::vector< CollisionObjectPtr > & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjects ( ) const

inline

getCollisionObjectsRaw() [1/2]

std::vector< CollisionObjectRawPtr > & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsRaw ( )

inline

getCollisionObjectsRaw() [2/2]

const std::vector< CollisionObjectRawPtr > & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsRaw ( ) const

inline

getCollisionObjectsTransform()

const Eigen::Isometry3d & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getCollisionObjectsTransform ( ) const

inline

getContactDistanceThreshold()

double tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getContactDistanceThreshold ( ) const

inline

getName()

const std::string & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getName ( ) const

inline

getShapeIndex()

int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getShapeIndex

(

const fcl::CollisionObjectd *

co

)

const

Given fcl collision shape get the index to the links collision shape.

Parameters

co	fcl collision shape

Returns

links collision shape index

getTypeID()

const int & tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::getTypeID ( ) const

inline

sameObject()

bool tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::sameObject ( const CollisionObjectWrapper &  other ) const

inline

Check if two objects point to the same source object.

setCollisionObjectsTransform()

void tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::setCollisionObjectsTransform ( const Eigen::Isometry3d &  pose )

inline

setContactDistanceThreshold()

void tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::setContactDistanceThreshold ( double  contact_distance )

inline

Member Data Documentation

collision_geometries_

std::vector<CollisionGeometryPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_geometries_

protected

collision_objects_

std::vector<CollisionObjectPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_objects_

protected

collision_objects_raw_

std::vector<CollisionObjectRawPtr> tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::collision_objects_raw_

protected

The raw pointer is also stored because FCL accepts vectors for batch process. Note: They are updating the API to Shared Pointers but the broadphase has not been updated yet.

contact_distance_

double tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::contact_distance_ { 0 }

protected

The contact distance threshold.

m_collisionFilterGroup

short int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_collisionFilterGroup { CollisionFilterGroups::KinematicFilter }

m_collisionFilterMask

short int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_collisionFilterMask { CollisionFilterGroups::StaticFilter | CollisionFilterGroups::KinematicFilter }

m_enabled

bool tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::m_enabled { true }

name_

std::string tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::name_

protected

shape_poses_

tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::shape_poses_

protected

shapes_

CollisionShapesConst tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::shapes_

protected

type_id_

int tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::type_id_ { -1 }

protected

world_pose_

Eigen::Isometry3d tesseract_collision::tesseract_collision_fcl::CollisionObjectWrapper::world_pose_ { Eigen::Isometry3d::Identity() }

protected

Collision Object World Transformation.

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The documentation for this class was generated from the following files:

• tesseract_collision/fcl/include/tesseract_collision/fcl/fcl_utils.h
• tesseract_collision/fcl/src/fcl_utils.cpp