tesseract_common::CollisionMarginData Class Reference

Stores information about how the margins allowed between collision objects. More...

#include <collision_margin_data.h>

Collaboration diagram for tesseract_common::CollisionMarginData:

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

Public Member Functions
	CollisionMarginData (double default_collision_margin=0)
	CollisionMarginData (double default_collision_margin, PairsCollisionMarginData pair_collision_margins)
	CollisionMarginData (PairsCollisionMarginData pair_collision_margins)
void	setDefaultCollisionMargin (double default_collision_margin)
	Set the default collision margin. More...
double	getDefaultCollisionMargin () const
	Get the default collision margin. More...
void	setPairCollisionMargin (const std::string &obj1, const std::string &obj2, double collision_margin)
	Set the margin for a given contact pair. More...
double	getPairCollisionMargin (const std::string &obj1, const std::string &obj2) const
	Get the pairs collision margin data. More...
const PairsCollisionMarginData &	getPairCollisionMargins () const
	Get Collision Margin Data for stored pairs. More...
double	getMaxCollisionMargin () const
	Get the largest collision margin. More...
void	incrementMargins (const double &increment)
	Increment all margins by input amount. Useful for inflating or reducing margins. More...
void	scaleMargins (const double &scale)
	Scale all margins by input value. More...
void	apply (const CollisionMarginData &collision_margin_data, CollisionMarginOverrideType override_type)
	Apply the contents of the provide CollisionMarginData based on the override type. More...
bool	operator== (const CollisionMarginData &rhs) const
bool	operator!= (const CollisionMarginData &rhs) const

Private Member Functions
void	updateMaxCollisionMargin ()
	Update the max collision margin. More...
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
double	default_collision_margin_ { 0 }
	Stores the collision margin used if no pair-specific one is set. More...
double	max_collision_margin_ { 0 }
	Stores the largest collision margin. More...
PairsCollisionMarginData	lookup_table_
	A map of link pair names to contact distance. More...

Friends
class	boost::serialization::access

Detailed Description

Stores information about how the margins allowed between collision objects.

Member Typedef Documentation

ConstPtr

using tesseract_common::CollisionMarginData::ConstPtr = std::shared_ptr<const CollisionMarginData>

Ptr

using tesseract_common::CollisionMarginData::Ptr = std::shared_ptr<CollisionMarginData>

Constructor & Destructor Documentation

CollisionMarginData() [1/3]

tesseract_common::CollisionMarginData::CollisionMarginData ( double  default_collision_margin = 0 )

inline

CollisionMarginData() [2/3]

tesseract_common::CollisionMarginData::CollisionMarginData ( double  default_collision_margin, PairsCollisionMarginData  pair_collision_margins  )

inline

CollisionMarginData() [3/3]

tesseract_common::CollisionMarginData::CollisionMarginData ( PairsCollisionMarginData  pair_collision_margins )

inline

Member Function Documentation

apply()

void tesseract_common::CollisionMarginData::apply ( const CollisionMarginData &  collision_margin_data, CollisionMarginOverrideType  override_type  )

inline

Apply the contents of the provide CollisionMarginData based on the override type.

Parameters

collision_margin_data	The collision margin data to apply
override_type	The type indicating how the provided data should be applied.

getDefaultCollisionMargin()

double tesseract_common::CollisionMarginData::getDefaultCollisionMargin ( ) const

inline

Get the default collision margin.

Returns

default collision margin

getMaxCollisionMargin()

double tesseract_common::CollisionMarginData::getMaxCollisionMargin ( ) const

inline

Get the largest collision margin.

This used when setting the contact distance in the contact manager.

Returns

Max contact distance threshold

getPairCollisionMargin()

double tesseract_common::CollisionMarginData::getPairCollisionMargin ( const std::string &  obj1, const std::string &  obj2  ) const

inline

Get the pairs collision margin data.

If a collision margin for the request pair does not exist it returns the default collision margin data.

Parameters

obj1	The first object name
obj2	The second object name

Returns

A Vector2d[Contact Distance Threshold, Coefficient]

getPairCollisionMargins()

const PairsCollisionMarginData & tesseract_common::CollisionMarginData::getPairCollisionMargins ( ) const

inline

Get Collision Margin Data for stored pairs.

Returns

A map of link pairs collision margin data

incrementMargins()

void tesseract_common::CollisionMarginData::incrementMargins ( const double &  increment )

inline

Increment all margins by input amount. Useful for inflating or reducing margins.

Parameters

increment

Amount to increment margins

operator!=()

bool tesseract_common::CollisionMarginData::operator!=

(

const CollisionMarginData &

rhs

)

const

operator==()

bool tesseract_common::CollisionMarginData::operator==

(

const CollisionMarginData &

rhs

)

const

scaleMargins()

void tesseract_common::CollisionMarginData::scaleMargins ( const double &  scale )

inline

Scale all margins by input value.

Parameters

scale

Value by which all margins are multiplied

serialize()

template<class Archive >

void tesseract_common::CollisionMarginData::serialize ( Archive &  ar, const unsigned int  version  )

private

setDefaultCollisionMargin()

void tesseract_common::CollisionMarginData::setDefaultCollisionMargin ( double  default_collision_margin )

inline

Set the default collision margin.

Parameters

default_collision_margin

New default collision margin

setPairCollisionMargin()

void tesseract_common::CollisionMarginData::setPairCollisionMargin ( const std::string &  obj1, const std::string &  obj2, double  collision_margin  )

inline

Set the margin for a given contact pair.

The order of the object names does not matter, that is handled internal to the class.

Parameters

obj1	The first object name. Order doesn't matter
obj2	The Second object name. Order doesn't matter
collision_margin	contacts with distance < collision_margin are considered in collision

updateMaxCollisionMargin()

void tesseract_common::CollisionMarginData::updateMaxCollisionMargin ( )

inlineprivate

Update the max collision margin.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

default_collision_margin_

double tesseract_common::CollisionMarginData::default_collision_margin_ { 0 }

private

Stores the collision margin used if no pair-specific one is set.

lookup_table_

PairsCollisionMarginData tesseract_common::CollisionMarginData::lookup_table_

private

A map of link pair names to contact distance.

max_collision_margin_

double tesseract_common::CollisionMarginData::max_collision_margin_ { 0 }

private

Stores the largest collision margin.

---

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

• tesseract_common/include/tesseract_common/collision_margin_data.h
• tesseract_common/src/collision_margin_data.cpp