tesseract_collision Namespace Reference

Namespaces
namespace	FLOAT_MATH
namespace	RAYCAST_MESH
namespace	tesseract_collision_bullet
namespace	tesseract_collision_fcl
namespace	test_suite
namespace	VHACD

Classes
struct	CollisionCheckConfig
	This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure. More...
struct	ContactManagerConfig
	Contains parameters used to configure a contact manager before a series of contact checks. More...
class	ContactManagersPluginFactory
struct	ContactRequest
	The ContactRequest struct. More...
struct	ContactResult
class	ContactResultMap
	This structure hold contact results for link pairs. More...
struct	ContactTestData
	This data is intended only to be used internal to the collision checkers as a container and should not be externally used by other libraries or packages. More...
class	ContinuousContactManager
class	ContinuousContactManagerFactory
	Define a continuous contact manager plugin which the factory can create an instance. More...
class	ConvexDecomposition
class	ConvexDecompositionHACD
class	ConvexDecompositionVHACD
class	DiscreteContactManager
class	DiscreteContactManagerFactory
	Define a discrete contact manager plugin which the factory can create an instance. More...
struct	HACDParameters
class	ProgressCallback
struct	VHACDParameters

Typedefs
using	ObjectPairKey = std::pair< std::string, std::string >
using	CollisionShapesConst = std::vector< tesseract_geometry::Geometry::ConstPtr >
using	CollisionShapeConstPtr = tesseract_geometry::Geometry::ConstPtr
using	CollisionShapePtr = tesseract_geometry::Geometry::Ptr
using	CollisionMarginData = tesseract_common::CollisionMarginData
using	CollisionMarginOverrideType = tesseract_common::CollisionMarginOverrideType
using	PairsCollisionMarginData = tesseract_common::PairsCollisionMarginData
using	IsContactAllowedFn = std::function< bool(const std::string &, const std::string &)>
	Should return true if contact allowed, otherwise false. More...
using	ContactResultVector = tesseract_common::AlignedVector< ContactResult >
using	IsContactResultValidFn = std::function< bool(const ContactResult &)>
	Should return true if contact results are valid, otherwise false. More...

Enumerations
enum class	ContinuousCollisionType { CCType_None , CCType_Time0 , CCType_Time1 , CCType_Between }
enum class	ContactTestType { FIRST = 0 , CLOSEST = 1 , ALL = 2 , LIMITED = 3 }
enum class	CollisionEvaluatorType {   NONE , DISCRETE , LVS_DISCRETE , CONTINUOUS ,   LVS_CONTINUOUS }
	High level descriptor used in planners and utilities to specify what kind of collision check is desired. More...
enum class	ACMOverrideType { NONE , ASSIGN , AND , OR }
	Identifies how the provided AllowedCollisionMatrix should be applied relative to the isAllowedFn in the contact manager. More...

Functions
int	createConvexHull (tesseract_common::VectorVector3d &vertices, Eigen::VectorXi &faces, const tesseract_common::VectorVector3d &input, double shrink=-1, double shrinkClamp=-1)
	Create a convex hull from vertices using Bullet Convex Hull Computer. More...
tesseract_geometry::ConvexMesh::Ptr	makeConvexMesh (const tesseract_geometry::Mesh &mesh)
std::vector< ObjectPairKey >	getCollisionObjectPairs (const std::vector< std::string > &active_links, const std::vector< std::string > &static_links, const IsContactAllowedFn &acm=nullptr)
	Get a vector of possible collision object pairs. More...
bool	isLinkActive (const std::vector< std::string > &active, const std::string &name)
	This will check if a link is active provided a list. If the list is empty the link is considered active. More...
bool	isContactAllowed (const std::string &name1, const std::string &name2, const IsContactAllowedFn &acm, bool verbose=false)
	Determine if contact is allowed between two objects. More...
ContactResult *	processResult (ContactTestData &cdata, ContactResult &contact, const std::pair< std::string, std::string > &key, bool found)
	processResult Processes the ContactResult based on the information in the ContactTestData More...
void	scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &center, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...
void	scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...
bool	writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const std::vector< Eigen::Vector3i > &vectices_color, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...
bool	writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...
int	loadSimplePlyFile (const std::string &path, tesseract_common::VectorVector3d &vertices, Eigen::VectorXi &faces, bool triangles_only=false)
	Loads a simple ply file given a path. More...
IsContactAllowedFn	combineContactAllowedFn (const IsContactAllowedFn &original, const IsContactAllowedFn &override, ACMOverrideType type=ACMOverrideType::OR)
	Combines two IsContactAllowedFns using the override type. More...
template<typename ManagerType >
void	applyIsContactAllowedFnOverride (ManagerType &manager, const tesseract_common::AllowedCollisionMatrix &acm, ACMOverrideType type)
	Applies ACM to contact manager using override type. More...
template<typename ManagerType >
void	applyModifyObjectEnabled (ManagerType &manager, const std::unordered_map< std::string, bool > &modify_object_enabled)
	Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable) More...

Variables
static const std::vector< std::string >	ContactTestTypeStrings

Typedef Documentation

CollisionMarginData

using tesseract_collision::CollisionMarginData = typedef tesseract_common::CollisionMarginData

CollisionMarginOverrideType

using tesseract_collision::CollisionMarginOverrideType = typedef tesseract_common::CollisionMarginOverrideType

CollisionShapeConstPtr

using tesseract_collision::CollisionShapeConstPtr = typedef tesseract_geometry::Geometry::ConstPtr

CollisionShapePtr

using tesseract_collision::CollisionShapePtr = typedef tesseract_geometry::Geometry::Ptr

CollisionShapesConst

using tesseract_collision::CollisionShapesConst = typedef std::vector<tesseract_geometry::Geometry::ConstPtr>

ContactResultVector

using tesseract_collision::ContactResultVector = typedef tesseract_common::AlignedVector<ContactResult>

IsContactAllowedFn

using tesseract_collision::IsContactAllowedFn = typedef std::function<bool(const std::string&, const std::string&)>

Should return true if contact allowed, otherwise false.

Also the order of strings should not matter, the function should handled by the function.

IsContactResultValidFn

using tesseract_collision::IsContactResultValidFn = typedef std::function<bool(const ContactResult&)>

Should return true if contact results are valid, otherwise false.

This is used so users may provide a callback to reject/approve collision results in various algorithms.

ObjectPairKey

using tesseract_collision::ObjectPairKey = typedef std::pair<std::string, std::string>

PairsCollisionMarginData

using tesseract_collision::PairsCollisionMarginData = typedef tesseract_common::PairsCollisionMarginData

Enumeration Type Documentation

ACMOverrideType

enum class tesseract_collision::ACMOverrideType

strong

Identifies how the provided AllowedCollisionMatrix should be applied relative to the isAllowedFn in the contact manager.

Enumerator
NONE	Do not apply AllowedCollisionMatrix.
ASSIGN	Replace the current IsContactAllowedFn with one generated from the ACM provided.
AND	New IsContactAllowedFn combines the contact manager fn and the ACM generated fn with and AND.
OR	New IsContactAllowedFn combines the contact manager fn and the ACM generated fn with and OR.

CollisionEvaluatorType

enum class tesseract_collision::CollisionEvaluatorType

strong

High level descriptor used in planners and utilities to specify what kind of collision check is desired.

DISCRETE - Discrete contact manager using only steps specified LVS_DISCRETE - Discrete contact manager interpolating using longest valid segment CONTINUOUS - Continuous contact manager using only steps specified LVS_CONTINUOUS - Continuous contact manager interpolating using longest valid segment

Enumerator
NONE	None.
DISCRETE	Discrete contact manager using only steps specified.
LVS_DISCRETE	Discrete contact manager interpolating using longest valid segment.
CONTINUOUS	Continuous contact manager using only steps specified.
LVS_CONTINUOUS	Continuous contact manager interpolating using longest valid segment.

ContactTestType

enum class tesseract_collision::ContactTestType

strong

Enumerator
FIRST	Return at first contact for any pair of objects
CLOSEST	Return the global minimum for a pair of objects
ALL	Return all contacts for a pair of objects
LIMITED	Return limited set of contacts for a pair of objects

ContinuousCollisionType

enum class tesseract_collision::ContinuousCollisionType

strong

Enumerator
CCType_None
CCType_Time0
CCType_Time1
CCType_Between

Function Documentation

applyIsContactAllowedFnOverride()

template<typename ManagerType >

void tesseract_collision::applyIsContactAllowedFnOverride ( ManagerType &  manager, const tesseract_common::AllowedCollisionMatrix &  acm, ACMOverrideType  type  )

inline

Applies ACM to contact manager using override type.

Parameters

manager	Manager whose IsContactAllowedFn will be overwritten
acm	ACM used to create IsContactAllowedFn
type	Determines how the two IsContactAllowedFns are combined

applyModifyObjectEnabled()

template<typename ManagerType >

void tesseract_collision::applyModifyObjectEnabled ( ManagerType &  manager, const std::unordered_map< std::string, bool > &  modify_object_enabled  )

inline

Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable)

Parameters

manager	Manager that will be modified
modify_object_enabled	Map of [key]:value = [object name]:disable or enable

combineContactAllowedFn()

IsContactAllowedFn tesseract_collision::combineContactAllowedFn	(	const IsContactAllowedFn &	original,
		const IsContactAllowedFn &	override,
		ACMOverrideType	type = ACMOverrideType::OR
	)

Combines two IsContactAllowedFns using the override type.

Parameters

original	Original IsContactAllowedFns. This will be returned if ACMOverrideType is None
override	Overriding IsContactAllowedFns. This will be returned if ACMOverrideType is ASSIGN
type	Override type used to combine the IsContactAllowedFns

Returns

One IsContactAllowedFn that combines the two

createConvexHull()

int tesseract_collision::createConvexHull	(	tesseract_common::VectorVector3d &	vertices,
		Eigen::VectorXi &	faces,
		const tesseract_common::VectorVector3d &	input,
		double	shrink = -1,
		double	shrinkClamp = -1
	)

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters

(Output)	vertices A vector of vertices
(Output)	faces The first values indicates the number of vertices that define the face followed by the vertices index
(input)	input A vector of point to create a convex hull from
(input)	shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)	shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.

Returns

The number of faces. If less than zero an error occurred when trying to create the convex hull

getCollisionObjectPairs()

std::vector< ObjectPairKey > tesseract_collision::getCollisionObjectPairs	(	const std::vector< std::string > &	active_links,
		const std::vector< std::string > &	static_links,
		const IsContactAllowedFn &	acm = nullptr
	)

Get a vector of possible collision object pairs.

Todo:

Should this also filter out links without geometry?

Parameters

active_links	The active link names
static_links	The static link names
acm	The is contact allowed function

Returns

A vector of collision object pairs

isContactAllowed()

bool tesseract_collision::isContactAllowed	(	const std::string &	name1,
		const std::string &	name2,
		const IsContactAllowedFn &	acm,
		bool	verbose = false
	)

Determine if contact is allowed between two objects.

Parameters

name1	The name of the first object
name2	The name of the second object
acm	The contact allowed function
verbose	If true print debug information

Returns

True if contact is allowed between the two object, otherwise false.

isLinkActive()

bool tesseract_collision::isLinkActive	(	const std::vector< std::string > &	active,
		const std::string &	name
	)

This will check if a link is active provided a list. If the list is empty the link is considered active.

Parameters

active	List of active link names
name	The name of link to check if it is active.

loadSimplePlyFile()

int tesseract_collision::loadSimplePlyFile	(	const std::string &	path,
		tesseract_common::VectorVector3d &	vertices,
		Eigen::VectorXi &	faces,
		bool	triangles_only = false
	)

Loads a simple ply file given a path.

Parameters

path	The file path
vertices	A vector of vertices
faces	The first values indicates the number of vertices that define the face followed by the vertice index
triangles_only	Convert to only include triangles

Returns

Number of faces, If returned 0 it failed to load.

makeConvexMesh()

tesseract_geometry::ConvexMesh::Ptr tesseract_collision::makeConvexMesh

(

const tesseract_geometry::Mesh &

mesh

)

processResult()

ContactResult * tesseract_collision::processResult	(	ContactTestData &	cdata,
		ContactResult &	contact,
		const std::pair< std::string, std::string > &	key,
		bool	found
	)

processResult Processes the ContactResult based on the information in the ContactTestData

Parameters

cdata	Information used to process the results
contact	Contacts from the collision checkers that will be processed
key	Link pair used as a key to look up pair specific settings
found	Specifies whether or not a collision has already been found

Returns

Pointer to the ContactResult.

scaleVertices() [1/2]

void tesseract_collision::scaleVertices	(	tesseract_common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	center,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
center	The point at which to scale the data about
scale	The scale factor to apply to the vertices.

scaleVertices() [2/2]

void tesseract_collision::scaleVertices	(	tesseract_common::VectorVector3d &	vertices,
		const Eigen::Vector3d &	scale
	)

Apply scaling to the geometry coordinates.

Given a scaling factor s, and center c, a given vertice v is transformed according to s (v - c) + c.

Parameters

vertices	The vertices to scale
scale	The scale factor to apply to the vertices.

writeSimplePlyFile() [1/2]

bool tesseract_collision::writeSimplePlyFile	(	const std::string &	path,
		const tesseract_common::VectorVector3d &	vertices,
		const Eigen::VectorXi &	faces,
		int	num_faces
	)

Write a simple ply file given vertices and faces.

Parameters

path	The file path
vertices	A vector of vertices
faces	The first values indicates the number of vertices that define the face followed by the vertice index
num_faces	The number of faces

Returns

False if failed to write file, otherwise true

writeSimplePlyFile() [2/2]

bool tesseract_collision::writeSimplePlyFile	(	const std::string &	path,
		const tesseract_common::VectorVector3d &	vertices,
		const std::vector< Eigen::Vector3i > &	vectices_color,
		const Eigen::VectorXi &	faces,
		int	num_faces
	)

Write a simple ply file given vertices and faces.

Parameters

path	The file path
vertices	A vector of vertices
vertices_color	The vertices color (0-255,0-255,0-255), if empty uses a default color
faces	The first values indicates the number of vertices that define the face followed by the vertice index
num_faces	The number of faces

Returns

False if failed to write file, otherwise true

Variable Documentation

ContactTestTypeStrings

const std::vector<std::string> tesseract_collision::ContactTestTypeStrings

static

Initial value:

= {
  "FIRST",
  "CLOSEST",
  "ALL",
  "LIMITED",
}