tesseract_environment_collision.cpp File Reference

#include <tesseract_common/macros.h>
#include <gtest/gtest.h>
#include <algorithm>
#include <vector>
#include <tesseract_urdf/urdf_parser.h>
#include <tesseract_common/resource_locator.h>
#include <tesseract_geometry/impl/box.h>
#include <tesseract_common/utils.h>
#include <tesseract_environment/commands.h>
#include <tesseract_environment/environment.h>
#include <tesseract_support/tesseract_support_resource_locator.h>

Include dependency graph for tesseract_environment_collision.cpp:

Functions
SceneGraph::UPtr	getSceneGraph ()
SRDFModel::Ptr	getSRDFModel (const SceneGraph &scene_graph)
tesseract_environment::Environment::UPtr	getEnvironment ()
manager	setActiveCollisionObjects (active_links)
manager	contactTest (collision, mCollisionCheckConfig.contact_request)
	EXPECT_FALSE (collision.empty())
pose	translation () = Eigen::Vector3d(0, -2, 1.5)
manager	setCollisionObjectsTransform ("link_n1", pose)
manager	setCollisionMarginData (mCollisionCheckConfig.contact_manager_config.margin_data)
manager	setCollisionObjectsTransform ("link_n1", pose1, pose2)
env	clearCachedDiscreteContactManager ()
env	clearCachedContinuousContactManager ()
int	main (int argc, char **argv)

Variables
CollisionCheckConfig	mCollisionCheckConfig
mCollisionCheckConfig	longest_valid_segment_length = 0.1
mCollisionCheckConfig contact_request	type = tesseract_collision::ContactTestType::FIRST
tesseract_collision::CollisionMarginData	margin_data (0.0) = margin_data
DiscreteContactManager::Ptr	manager = env->getDiscreteContactManager()
std::vector< std::string >	active_links = { "link_n1" }
auto	pose = Eigen::Isometry3d::Identity()
tesseract_collision::ContactResultMap	collision
auto	pose1 = Eigen::Isometry3d::Identity()
auto	pose2 = Eigen::Isometry3d::Identity()

Function Documentation

clearCachedContinuousContactManager()

env clearCachedContinuousContactManager

(

)

clearCachedDiscreteContactManager()

env clearCachedDiscreteContactManager

(

)

contactTest()

manager contactTest	(	collision	,
		mCollisionCheckConfig.	contact_request
	)

EXPECT_FALSE()

EXPECT_FALSE

(

collision.

empty()

)

getEnvironment()

tesseract_environment::Environment::UPtr getEnvironment

(

)

getSceneGraph()

SceneGraph::UPtr getSceneGraph

(

)

getSRDFModel()

SRDFModel::Ptr getSRDFModel

(

const SceneGraph &

scene_graph

)

main()

int main	(	int	argc,
		char **	argv
	)

setActiveCollisionObjects()

manager setActiveCollisionObjects

(

active_links

)

setCollisionMarginData()

manager setCollisionMarginData

(

mCollisionCheckConfig.contact_manager_config.

margin_data

)

setCollisionObjectsTransform() [1/2]

manager setCollisionObjectsTransform	(	"link_n1"	,
		pose
	)

setCollisionObjectsTransform() [2/2]

manager setCollisionObjectsTransform	(	"link_n1"	,
		pose1	,
		pose2
	)

translation()

tcp_welder translation

(

)

= Eigen::Vector3d(0, -2, 1.5)

Variable Documentation

active_links

std::vector< std::string > active_links = { "link_n1" }

collision

tesseract_collision::ContactResultMap collision

longest_valid_segment_length

default_config longest_valid_segment_length = 0.1

manager

ContinuousContactManager::Ptr manager = env->getDiscreteContactManager()

margin_data

tesseract_common::CollisionMarginData::Ptr margin_data

(

0.

0

)

= margin_data

mCollisionCheckConfig

CollisionCheckConfig mCollisionCheckConfig

Initial value:

{
  
  auto env = getEnvironment()

pose

auto pose = Eigen::Isometry3d::Identity()

pose1

auto pose1 = Eigen::Isometry3d::Identity()

pose2

auto pose2 = Eigen::Isometry3d::Identity()

type

joint_tool0 type = tesseract_collision::ContactTestType::FIRST