A simple implementation of a bullet manager which does not use BHV. More...

#include <bullet_discrete_simple_manager.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager:

Collaboration diagram for tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager:

[legend]

Public Types
using	Ptr = std::shared_ptr< BulletDiscreteSimpleManager >

using	ConstPtr = std::shared_ptr< const BulletDiscreteSimpleManager >

using	UPtr = std::unique_ptr< BulletDiscreteSimpleManager >

using	ConstUPtr = std::unique_ptr< const BulletDiscreteSimpleManager >

Public Types inherited from tesseract_collision::DiscreteContactManager
using	Ptr = std::shared_ptr< DiscreteContactManager >

using	ConstPtr = std::shared_ptr< const DiscreteContactManager >

using	UPtr = std::unique_ptr< DiscreteContactManager >

using	ConstUPtr = std::unique_ptr< const DiscreteContactManager >

Public Member Functions
	BulletDiscreteSimpleManager (std::string name="BulletDiscreteSimpleManager", TesseractCollisionConfigurationInfo config_info=TesseractCollisionConfigurationInfo())

	~BulletDiscreteSimpleManager () override=default

	BulletDiscreteSimpleManager (const BulletDiscreteSimpleManager &)=delete

BulletDiscreteSimpleManager &	operator= (const BulletDiscreteSimpleManager &)=delete

	BulletDiscreteSimpleManager (BulletDiscreteSimpleManager &&)=delete

BulletDiscreteSimpleManager &	operator= (BulletDiscreteSimpleManager &&)=delete

std::string	getName () const override final
	Get the name of the contact manager. More...

DiscreteContactManager::UPtr	clone () const override final
	Clone the manager. More...

bool	addCollisionObject (const std::string &name, const int &mask_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true) override final
	Add a object to the checker. More...

const CollisionShapesConst &	getCollisionObjectGeometries (const std::string &name) const override final
	Get a collision objects collision geometries. More...

const tesseract_common::VectorIsometry3d &	getCollisionObjectGeometriesTransforms (const std::string &name) const override final
	Get a collision objects collision geometries transforms. More...

bool	hasCollisionObject (const std::string &name) const override final
	Find if a collision object already exists. More...

bool	removeCollisionObject (const std::string &name) override final
	Remove an object from the checker. More...

bool	enableCollisionObject (const std::string &name) override final
	Enable an object. More...

bool	disableCollisionObject (const std::string &name) override final
	Disable an object. More...

bool	isCollisionObjectEnabled (const std::string &name) const override final
	Check if collision object is enabled. More...

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose) override final
	Set a single collision object's transforms. More...

void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &poses) override final
	Set a series of collision object's transforms. More...

void	setCollisionObjectsTransform (const tesseract_common::TransformMap &transforms) override final
	Set a series of collision object's transforms. More...

const std::vector< std::string > &	getCollisionObjects () const override final
	Get all collision objects. More...

void	setActiveCollisionObjects (const std::vector< std::string > &names) override final
	Set which collision objects can move. More...

const std::vector< std::string > &	getActiveCollisionObjects () const override final
	Get which collision objects can move. More...

void	setCollisionMarginData (CollisionMarginData collision_margin_data, CollisionMarginOverrideType override_type=CollisionMarginOverrideType::REPLACE) override final
	Set the contact distance thresholds for which collision should be considered on a per pair basis. More...

void	setDefaultCollisionMarginData (double default_collision_margin) override final
	Set the default collision margin. More...

void	setPairCollisionMarginData (const std::string &name1, const std::string &name2, double collision_margin) override final
	Set the margin for a given contact pair. More...

const CollisionMarginData &	getCollisionMarginData () const override final
	Get the contact distance threshold. More...

void	setIsContactAllowedFn (IsContactAllowedFn fn) override final
	Set the active function for determining if two links are allowed to be in collision. More...

IsContactAllowedFn	getIsContactAllowedFn () const override final
	Get the active function for determining if two links are allowed to be in collision. More...

void	contactTest (ContactResultMap &collisions, const ContactRequest &request) override final
	Perform a contact test for all objects based. More...

void	addCollisionObject (const COW::Ptr &cow)
	A a bullet collision object to the manager. More...

Public Member Functions inherited from tesseract_collision::DiscreteContactManager
	DiscreteContactManager ()=default

virtual	~DiscreteContactManager ()=default

	DiscreteContactManager (const DiscreteContactManager &)=delete

DiscreteContactManager &	operator= (const DiscreteContactManager &)=delete

	DiscreteContactManager (DiscreteContactManager &&)=delete

DiscreteContactManager &	operator= (DiscreteContactManager &&)=delete

virtual std::string	getName () const =0
	Get the name of the contact manager. More...

virtual DiscreteContactManager::UPtr	clone () const =0
	Clone the manager. More...

virtual bool	addCollisionObject (const std::string &name, const int &mask_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true)=0
	Add a object to the checker. More...

virtual const CollisionShapesConst &	getCollisionObjectGeometries (const std::string &name) const =0
	Get a collision objects collision geometries. More...

virtual const tesseract_common::VectorIsometry3d &	getCollisionObjectGeometriesTransforms (const std::string &name) const =0
	Get a collision objects collision geometries transforms. More...

virtual bool	hasCollisionObject (const std::string &name) const =0
	Find if a collision object already exists. More...

virtual bool	removeCollisionObject (const std::string &name)=0
	Remove an object from the checker. More...

virtual bool	enableCollisionObject (const std::string &name)=0
	Enable an object. More...

virtual bool	disableCollisionObject (const std::string &name)=0
	Disable an object. More...

virtual bool	isCollisionObjectEnabled (const std::string &name) const =0
	Check if collision object is enabled. More...

virtual void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose)=0
	Set a single collision object's transforms. More...

virtual void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &poses)=0
	Set a series of collision object's transforms. More...

virtual void	setCollisionObjectsTransform (const tesseract_common::TransformMap &transforms)=0
	Set a series of collision object's transforms. More...

virtual const std::vector< std::string > &	getCollisionObjects () const =0
	Get all collision objects. More...

virtual void	setActiveCollisionObjects (const std::vector< std::string > &names)=0
	Set which collision objects can move. More...

virtual const std::vector< std::string > &	getActiveCollisionObjects () const =0
	Get which collision objects can move. More...

virtual void	setCollisionMarginData (CollisionMarginData collision_margin_data, CollisionMarginOverrideType override_type=CollisionMarginOverrideType::REPLACE)=0
	Set the contact distance thresholds for which collision should be considered on a per pair basis. More...

virtual void	setDefaultCollisionMarginData (double default_collision_margin)=0
	Set the default collision margin. More...

virtual void	setPairCollisionMarginData (const std::string &name1, const std::string &name2, double collision_margin)=0
	Set the margin for a given contact pair. More...

virtual const CollisionMarginData &	getCollisionMarginData () const =0
	Get the contact distance threshold. More...

virtual void	setIsContactAllowedFn (IsContactAllowedFn fn)=0
	Set the active function for determining if two links are allowed to be in collision. More...

virtual IsContactAllowedFn	getIsContactAllowedFn () const =0
	Get the active function for determining if two links are allowed to be in collision. More...

virtual void	contactTest (ContactResultMap &collisions, const ContactRequest &request)=0
	Perform a contact test for all objects based. More...

virtual void	applyContactManagerConfig (const ContactManagerConfig &config)
	Applies settings in the config. More...

Private Member Functions
void	onCollisionMarginDataChanged ()
	This function will update internal data when margin data has changed. More...

Private Attributes
std::string	name_

std::vector< std::string >	active_
	A list of the active collision objects. More...

std::vector< std::string >	collision_objects_
	A list of the collision objects. More...

std::unique_ptr< btCollisionDispatcher >	dispatcher_
	The bullet collision dispatcher used for getting object to object collison algorithm. More...

btDispatcherInfo	dispatch_info_
	The bullet collision dispatcher configuration information. More...

TesseractCollisionConfigurationInfo	config_info_
	The bullet collision configuration information. More...

TesseractCollisionConfiguration	coll_config_
	The bullet collision configuration. More...

Link2Cow	link2cow_
	A map of all (static and active) collision objects being managed. More...

std::vector< COW::Ptr >	cows_
	A vector of collision objects (active followed by static) More...

ContactTestData	contact_test_data_
	This is used when contactTest is called. It is also added as a user point to the collsion objects so it can be used to exit collision checking for compound shapes. More...

Detailed Description

A simple implementation of a bullet manager which does not use BHV.

Member Typedef Documentation

◆ ConstPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::ConstPtr = std::shared_ptr<const BulletDiscreteSimpleManager>

◆ ConstUPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::ConstUPtr = std::unique_ptr<const BulletDiscreteSimpleManager>

◆ Ptr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::Ptr = std::shared_ptr<BulletDiscreteSimpleManager>

◆ UPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::UPtr = std::unique_ptr<BulletDiscreteSimpleManager>

Constructor & Destructor Documentation

◆ BulletDiscreteSimpleManager() [1/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager	(	std::string	name = `"BulletDiscreteSimpleManager"`,
		TesseractCollisionConfigurationInfo	config_info = `TesseractCollisionConfigurationInfo()`
	)

◆ ~BulletDiscreteSimpleManager()

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::~BulletDiscreteSimpleManager ( )

overridedefault

◆ BulletDiscreteSimpleManager() [2/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager ( const BulletDiscreteSimpleManager & )

delete

◆ BulletDiscreteSimpleManager() [3/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager ( BulletDiscreteSimpleManager && )

delete

Member Function Documentation

◆ addCollisionObject() [1/2]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::addCollisionObject ( const COW::Ptr & cow )

A a bullet collision object to the manager.

Parameters

cow	The tesseract bullet collision object

◆ addCollisionObject() [2/2]

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::addCollisionObject	(	const std::string &	name,
		const int &	mask_id,
		const CollisionShapesConst &	shapes,
		const tesseract_common::VectorIsometry3d &	shape_poses,
		bool	enabled = `true`
	)

finaloverridevirtual

Add a object to the checker.

Parameters

name	The name of the object, must be unique.
mask_id	User defined id which gets stored in the results structure.
shapes	A vector of shapes that make up the collision object.
shape_poses	A vector of poses for each shape, must be same length as shapes

Returns: true if successfully added, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

◆ clone()

DiscreteContactManager::UPtr tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::clone ( ) const

finaloverridevirtual

Clone the manager.

This is to be used for multi threaded application. A user should make a clone for each thread.

Implements tesseract_collision::DiscreteContactManager.

◆ contactTest()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::contactTest	(	ContactResultMap &	collisions,
		const ContactRequest &	request
	)

finaloverridevirtual

Perform a contact test for all objects based.

Parameters

collisions	The contact results data
request	The contact request data

Implements tesseract_collision::DiscreteContactManager.

◆ disableCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::disableCollisionObject ( const std::string & name )

finaloverridevirtual

Disable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

◆ enableCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::enableCollisionObject ( const std::string & name )

finaloverridevirtual

Enable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

◆ getActiveCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getActiveCollisionObjects ( ) const

finaloverridevirtual

Get which collision objects can move.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

◆ getCollisionMarginData()

const CollisionMarginData & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionMarginData ( ) const

finaloverridevirtual

Get the contact distance threshold.

Returns: The contact distance

Implements tesseract_collision::DiscreteContactManager.

◆ getCollisionObjectGeometries()

const CollisionShapesConst & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjectGeometries ( const std::string & name ) const

finaloverridevirtual

Get a collision objects collision geometries.

Parameters

name	The collision objects name

Returns: A vector of collision geometries. The vector will be empty if the collision object is not found.

Implements tesseract_collision::DiscreteContactManager.

◆ getCollisionObjectGeometriesTransforms()

const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjectGeometriesTransforms ( const std::string & name ) const

finaloverridevirtual

Get a collision objects collision geometries transforms.

Parameters

name	The collision objects name

Returns: A vector of collision geometries transforms. The vector will be empty if the collision object is not found.

Implements tesseract_collision::DiscreteContactManager.

◆ getCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjects ( ) const

finaloverridevirtual

Get all collision objects.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

◆ getIsContactAllowedFn()

IsContactAllowedFn tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getIsContactAllowedFn ( ) const

finaloverridevirtual

Get the active function for determining if two links are allowed to be in collision.

Implements tesseract_collision::DiscreteContactManager.

◆ getName()

std::string tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getName ( ) const

finaloverridevirtual

Get the name of the contact manager.

Returns: The name

Implements tesseract_collision::DiscreteContactManager.

◆ hasCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::hasCollisionObject ( const std::string & name ) const

finaloverridevirtual

Find if a collision object already exists.

Parameters

name	The name of the collision object

Returns: true if it exists, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

◆ isCollisionObjectEnabled()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::isCollisionObjectEnabled ( const std::string & name ) const

finaloverridevirtual

Check if collision object is enabled.

Parameters

name	The name of the object

Returns: True if enabled, otherwise false

Implements tesseract_collision::DiscreteContactManager.

◆ onCollisionMarginDataChanged()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::onCollisionMarginDataChanged ( )

private

This function will update internal data when margin data has changed.

◆ operator=() [1/2]

BulletDiscreteSimpleManager & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::operator= ( BulletDiscreteSimpleManager && )

delete

◆ operator=() [2/2]

BulletDiscreteSimpleManager & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::operator= ( const BulletDiscreteSimpleManager & )

delete

◆ removeCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::removeCollisionObject ( const std::string & name )

finaloverridevirtual

Remove an object from the checker.

Parameters

name	The name of the object

Returns: true if successfully removed, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

◆ setActiveCollisionObjects()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setActiveCollisionObjects ( const std::vector< std::string > & names )

finaloverridevirtual

Set which collision objects can move.

Parameters

names A vector of collision object names

Implements tesseract_collision::DiscreteContactManager.

◆ setCollisionMarginData()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionMarginData	(	CollisionMarginData	collision_margin_data,
		CollisionMarginOverrideType	override_type = `CollisionMarginOverrideType::REPLACE`
	)

finaloverridevirtual

Set the contact distance thresholds for which collision should be considered on a per pair basis.

Parameters

collision_margin_data	Contains the data that will replace the current settings
override_type	This determines how the provided CollisionMarginData is applied

Implements tesseract_collision::DiscreteContactManager.

◆ setCollisionObjectsTransform() [1/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose
	)

finaloverridevirtual

Set a single collision object's transforms.

Parameters

name	The name of the object
pose	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

◆ setCollisionObjectsTransform() [2/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform	(	const std::vector< std::string > &	names,
		const tesseract_common::VectorIsometry3d &	poses
	)

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

names	The name of the object
poses	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

◆ setCollisionObjectsTransform() [3/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform ( const tesseract_common::TransformMap & transforms )

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

transforms A transform map <name, pose>

Implements tesseract_collision::DiscreteContactManager.

◆ setDefaultCollisionMarginData()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setDefaultCollisionMarginData ( double default_collision_margin )

finaloverridevirtual

Set the default collision margin.

Parameters

default_collision_margin New default collision margin

Implements tesseract_collision::DiscreteContactManager.

◆ setIsContactAllowedFn()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setIsContactAllowedFn ( IsContactAllowedFn fn )

finaloverridevirtual

Set the active function for determining if two links are allowed to be in collision.

Implements tesseract_collision::DiscreteContactManager.

◆ setPairCollisionMarginData()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setPairCollisionMarginData	(	const std::string &	name1,
		const std::string &	name2,
		double	collision_margin
	)

finaloverridevirtual

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

Implements tesseract_collision::DiscreteContactManager.

Member Data Documentation

◆ active_

std::vector<std::string> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::active_

private

A list of the active collision objects.

◆ coll_config_

TesseractCollisionConfiguration tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::coll_config_

private

The bullet collision configuration.

◆ collision_objects_

std::vector<std::string> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::collision_objects_

private

A list of the collision objects.

◆ config_info_

TesseractCollisionConfigurationInfo tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::config_info_

private

The bullet collision configuration information.

◆ contact_test_data_

ContactTestData tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::contact_test_data_

private

This is used when contactTest is called. It is also added as a user point to the collsion objects so it can be used to exit collision checking for compound shapes.

◆ cows_

std::vector<COW::Ptr> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::cows_

private

A vector of collision objects (active followed by static)

◆ dispatch_info_

btDispatcherInfo tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::dispatch_info_

private

The bullet collision dispatcher configuration information.

◆ dispatcher_

std::unique_ptr<btCollisionDispatcher> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::dispatcher_

private

The bullet collision dispatcher used for getting object to object collison algorithm.

◆ link2cow_

Link2Cow tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::link2cow_

private

A map of all (static and active) collision objects being managed.

◆ name_

std::string tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::name_

private

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

tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_discrete_simple_manager.h
tesseract_collision/bullet/src/bullet_discrete_simple_manager.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ BulletDiscreteSimpleManager() [1/3]

◆ ~BulletDiscreteSimpleManager()

◆ BulletDiscreteSimpleManager() [2/3]

◆ BulletDiscreteSimpleManager() [3/3]

Member Function Documentation

◆ addCollisionObject() [1/2]

◆ addCollisionObject() [2/2]

◆ clone()

◆ contactTest()

◆ disableCollisionObject()

◆ enableCollisionObject()

◆ getActiveCollisionObjects()

◆ getCollisionMarginData()

◆ getCollisionObjectGeometries()

◆ getCollisionObjectGeometriesTransforms()

◆ getCollisionObjects()

◆ getIsContactAllowedFn()

◆ getName()

◆ hasCollisionObject()

◆ isCollisionObjectEnabled()

◆ onCollisionMarginDataChanged()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeCollisionObject()

◆ setActiveCollisionObjects()

◆ setCollisionMarginData()

◆ setCollisionObjectsTransform() [1/3]

◆ setCollisionObjectsTransform() [2/3]

◆ setCollisionObjectsTransform() [3/3]

◆ setDefaultCollisionMarginData()

◆ setIsContactAllowedFn()

◆ setPairCollisionMarginData()

Member Data Documentation

◆ active_

◆ coll_config_

◆ collision_objects_

◆ config_info_

◆ contact_test_data_

◆ cows_

◆ dispatch_info_

◆ dispatcher_

◆ link2cow_

◆ name_