bullet_utils.h File Reference

Tesseract ROS Bullet environment utility function. More...

#include <tesseract_common/macros.h>
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
#include <BulletCollision/CollisionDispatch/btManifoldResult.h>
#include <btBulletCollisionCommon.h>
#include <console_bridge/console.h>
#include <tesseract_collision/core/types.h>
#include <tesseract_collision/core/common.h>

Include dependency graph for bullet_utils.h:

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Classes
class	tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper
	This is a tesseract bullet collsion object. More...
struct	tesseract_collision::tesseract_collision_bullet::CastHullShape
	This is a casted collision shape used for checking if an object is collision free between two transforms. More...
struct	tesseract_collision::tesseract_collision_bullet::TesseractBridgedManifoldResult
	This is copied directly out of BulletWorld. More...
struct	tesseract_collision::tesseract_collision_bullet::BroadphaseContactResultCallback
	The BroadphaseContactResultCallback is used to report contact points. More...
struct	tesseract_collision::tesseract_collision_bullet::DiscreteBroadphaseContactResultCallback
struct	tesseract_collision::tesseract_collision_bullet::CastBroadphaseContactResultCallback
struct	tesseract_collision::tesseract_collision_bullet::TesseractBroadphaseBridgedManifoldResult
class	tesseract_collision::tesseract_collision_bullet::TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...
class	tesseract_collision::tesseract_collision_bullet::TesseractOverlapFilterCallback
	This class is used to filter broadphase. More...
struct	tesseract_collision::tesseract_collision_bullet::DiscreteCollisionCollector
struct	tesseract_collision::tesseract_collision_bullet::CastCollisionCollector

Namespaces
namespace	tesseract_collision
namespace	tesseract_collision::tesseract_collision_bullet

Macros
#define	METERS

Typedefs
using	tesseract_collision::tesseract_collision_bullet::COW = CollisionObjectWrapper
using	tesseract_collision::tesseract_collision_bullet::Link2Cow = std::map< std::string, COW::Ptr >
using	tesseract_collision::tesseract_collision_bullet::Link2ConstCow = std::map< std::string, COW::ConstPtr >

Functions
btVector3	tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Vector3d &v)
Eigen::Vector3d	tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btVector3 &v)
btQuaternion	tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Quaterniond &q)
btMatrix3x3	tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Matrix3d &r)
Eigen::Matrix3d	tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btMatrix3x3 &r)
btTransform	tesseract_collision::tesseract_collision_bullet::convertEigenToBt (const Eigen::Isometry3d &t)
Eigen::Isometry3d	tesseract_collision::tesseract_collision_bullet::convertBtToEigen (const btTransform &t)
void	tesseract_collision::tesseract_collision_bullet::GetAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, btScalar &outsupport, btVector3 &outpt)
btTransform	tesseract_collision::tesseract_collision_bullet::getLinkTransformFromCOW (const btCollisionObjectWrapper *cow)
	This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max. More...
bool	tesseract_collision::tesseract_collision_bullet::needsCollisionCheck (const COW &cow1, const COW &cow2, const IsContactAllowedFn &acm, bool verbose=false)
	This is used to check if a collision check is required between the provided two collision objects. More...
btScalar	tesseract_collision::tesseract_collision_bullet::addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, const btCollisionObjectWrapper *colObj1Wrap, ContactTestData &collisions)
void	tesseract_collision::tesseract_collision_bullet::calculateContinuousData (ContactResult *col, const btCollisionObjectWrapper *cow, const btVector3 &pt_world, const btVector3 &normal_world, const btTransform &link_tf_inv, size_t link_index)
	Calculate the continuous contact data for casted collision shape. More...
btScalar	tesseract_collision::tesseract_collision_bullet::addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int index0, const btCollisionObjectWrapper *colObj1Wrap, int index1, ContactTestData &collisions)
std::shared_ptr< btCollisionShape >	tesseract_collision::tesseract_collision_bullet::createShapePrimitive (const CollisionShapeConstPtr &geom, CollisionObjectWrapper *cow, int shape_index)
	Create a bullet collision shape from tesseract collision shape. More...
void	tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow)
	Update a collision objects filters. More...
COW::Ptr	tesseract_collision::tesseract_collision_bullet::createCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true)
COW::Ptr	tesseract_collision::tesseract_collision_bullet::makeCastCollisionObject (const COW::Ptr &cow)
void	tesseract_collision::tesseract_collision_bullet::updateBroadphaseAABB (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object. More...
void	tesseract_collision::tesseract_collision_bullet::removeCollisionObjectFromBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase. More...
void	tesseract_collision::tesseract_collision_bullet::addCollisionObjectToBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase. More...
void	tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update a collision objects filters for broadphase. More...
void	tesseract_collision::tesseract_collision_bullet::refreshBroadphaseProxy (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Refresh the broadphase data structure. More...

Variables
const btScalar	tesseract_collision::tesseract_collision_bullet::BULLET_MARGIN = btScalar(0.0)
const btScalar	tesseract_collision::tesseract_collision_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS
const btScalar	tesseract_collision::tesseract_collision_bullet::BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS
const btScalar	tesseract_collision::tesseract_collision_bullet::BULLET_EPSILON = btScalar(1e-3)
const btScalar	tesseract_collision::tesseract_collision_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)
const bool	tesseract_collision::tesseract_collision_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Detailed Description

Tesseract ROS Bullet environment utility function.

Author

John Schulman

Levi Armstrong

Date

Dec 18, 2017

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2017, Southwest Research Institute

Copyright (c) 2013, John Schulman

License

Software License Agreement (BSD-2-Clause)

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.

Macro Definition Documentation

METERS

#define METERS