This structure hold contact results for link pairs. More...

#include <types.h>

Public Types
using	KeyType = std::pair< std::string, std::string >

using	MappedType = ContactResultVector

using	ContainerType = tesseract_common::AlignedMap< KeyType, MappedType >

using	ConstReferenceType = typename tesseract_common::AlignedMap< KeyType, MappedType >::const_reference

using	ConstIteratorType = typename tesseract_common::AlignedMap< KeyType, MappedType >::const_iterator

using	PairType = typename std::pair< const KeyType, MappedType >

using	FilterFn = std::function< void(PairType &)>

Public Member Functions
ContactResult &	addContactResult (const KeyType &key, ContactResult result)
	Add contact results for the provided key. More...

ContactResult &	addContactResult (const KeyType &key, const MappedType &results)
	Add contact results for the provided key. More...

ContactResult &	setContactResult (const KeyType &key, ContactResult result)
	Set contact results for the provided key. More...

ContactResult &	setContactResult (const KeyType &key, const MappedType &results)
	Set contact results for the provided key. More...

void	addInterpolatedCollisionResults (ContactResultMap &sub_segment_results, int sub_segment_index, int sub_segment_last_index, const std::vector< std::string > &active_link_names, double segment_dt, bool discrete, const ContactResultMap::FilterFn &filter=nullptr)
	This processes interpolated contact results by updating the cc_time and cc_type and then adds the result. More...

void	flattenMoveResults (ContactResultVector &v)

void	flattenCopyResults (ContactResultVector &v) const

void	flattenWrapperResults (std::vector< std::reference_wrapper< ContactResult > > &v)

void	flattenWrapperResults (std::vector< std::reference_wrapper< const ContactResult > > &v) const

void	filter (const FilterFn &filter)
	Filter out results using the provided function. More...

long	count () const
	Get the total number of contact results storted. More...

std::size_t	size () const
	Get the size of the map. More...

bool	empty () const
	Check if results are present. More...

void	clear ()
	This is a consurvative clear. More...

void	release ()
	Fully clear all internal data. More...

const ContainerType &	getContainer () const
	Get the underlying container. More...

ConstIteratorType	begin () const
	returns an iterator to the beginning More...

ConstIteratorType	end () const
	returns an iterator to the end More...

ConstIteratorType	cbegin () const
	returns an iterator to the beginning More...

ConstIteratorType	cend () const
	returns an iterator to the end More...

const ContactResultVector &	at (const KeyType &key) const
	access specified element with bounds checking More...

ConstIteratorType	find (const KeyType &key) const

Private Attributes
ContainerType	data_

long	count_ { 0 }

Detailed Description

This structure hold contact results for link pairs.

A custom class was implemented to avoid a large number of heap allocations during motion which avoids full clearing the map. This class provides methods const container methods for access the internal unordered_map and has two distinct different when it comes to the clear, size and release methods.

The clear method does not call clear on the unordered_map but instead it loops over all entries and calls clear on the vector being stored. This allows the memory to remain with the map and not get release for each of the vectors stored in the map.

The size method loops over the map and counts those that have vectors which are not empty.

The release method actually calls clear on the internal unordered_map relasing all memory.

Todo:: This should be updated to leverage a object pool for ContactResultVector where in the set and add methods it would check it the pair exists and if not it would pull from the object pool.

Member Typedef Documentation

◆ ConstIteratorType

using tesseract_collision::ContactResultMap::ConstIteratorType = typename tesseract_common::AlignedMap<KeyType, MappedType>::const_iterator

◆ ConstReferenceType

using tesseract_collision::ContactResultMap::ConstReferenceType = typename tesseract_common::AlignedMap<KeyType, MappedType>::const_reference

◆ ContainerType

using tesseract_collision::ContactResultMap::ContainerType = tesseract_common::AlignedMap<KeyType, MappedType>

◆ FilterFn

using tesseract_collision::ContactResultMap::FilterFn = std::function<void(PairType&)>

◆ KeyType

using tesseract_collision::ContactResultMap::KeyType = std::pair<std::string, std::string>

◆ MappedType

using tesseract_collision::ContactResultMap::MappedType = ContactResultVector

◆ PairType

using tesseract_collision::ContactResultMap::PairType = typename std::pair<const KeyType, MappedType>

Member Function Documentation

◆ addContactResult() [1/2]

ContactResult & tesseract_collision::ContactResultMap::addContactResult	(	const KeyType &	key,
		const MappedType &	results
	)

Add contact results for the provided key.

Parameters

key	The key to append the results to
result	The results to add

◆ addContactResult() [2/2]

ContactResult & tesseract_collision::ContactResultMap::addContactResult	(	const KeyType &	key,
		ContactResult	result
	)

Add contact results for the provided key.

Parameters

key	The key to append the results to
result	The results to add

◆ addInterpolatedCollisionResults()

void tesseract_collision::ContactResultMap::addInterpolatedCollisionResults	(	ContactResultMap &	sub_segment_results,
		int	sub_segment_index,
		int	sub_segment_last_index,
		const std::vector< std::string > &	active_link_names,
		double	segment_dt,
		bool	discrete,
		const ContactResultMap::FilterFn &	filter = `nullptr`
	)

This processes interpolated contact results by updating the cc_time and cc_type and then adds the result.

This is copied from the trajopt utility processInterpolatedCollisionResults

Parameters

sub_segment_results	The interpolated results to process
sub_segment_index	The current sub segment index
sub_segment_last_index	The last sub segment index
active_link_names	The active link names
segment_dt	The segment dt
discrete	If discrete contact checker was used
filter	An option filter to exclude results

◆ at()

const ContactResultVector & tesseract_collision::ContactResultMap::at ( const KeyType & key ) const

access specified element with bounds checking

◆ begin()

ContactResultMap::ConstIteratorType tesseract_collision::ContactResultMap::begin ( ) const

returns an iterator to the beginning

◆ cbegin()

ContactResultMap::ConstIteratorType tesseract_collision::ContactResultMap::cbegin ( ) const

returns an iterator to the beginning

◆ cend()

ContactResultMap::ConstIteratorType tesseract_collision::ContactResultMap::cend ( ) const

returns an iterator to the end

◆ clear()

void tesseract_collision::ContactResultMap::clear ( )

This is a consurvative clear.

This does not call clear on the internal map but instead loops over each link pair entry and calls clear on the underlying vector. This way the vector capacity remains the same to avoid uneccessary heap allocation for subsequent contact requests.

Note: Use release to fully clear the internal data structure

◆ count()

long tesseract_collision::ContactResultMap::count ( ) const

Get the total number of contact results storted.

Returns: The number of contact results

◆ empty()

bool tesseract_collision::ContactResultMap::empty ( ) const

Check if results are present.

Returns

◆ end()

ContactResultMap::ConstIteratorType tesseract_collision::ContactResultMap::end ( ) const

returns an iterator to the end

◆ filter()

void tesseract_collision::ContactResultMap::filter ( const FilterFn & filter )

Filter out results using the provided function.

Parameters

fn	The filter function

◆ find()

ContactResultMap::ConstIteratorType tesseract_collision::ContactResultMap::find ( const KeyType & key ) const

◆ flattenCopyResults()

void tesseract_collision::ContactResultMap::flattenCopyResults ( ContactResultVector & v ) const

◆ flattenMoveResults()

void tesseract_collision::ContactResultMap::flattenMoveResults ( ContactResultVector & v )

◆ flattenWrapperResults() [1/2]

void tesseract_collision::ContactResultMap::flattenWrapperResults ( std::vector< std::reference_wrapper< const ContactResult > > & v ) const

◆ flattenWrapperResults() [2/2]

void tesseract_collision::ContactResultMap::flattenWrapperResults ( std::vector< std::reference_wrapper< ContactResult > > & v )

◆ getContainer()

const ContactResultMap::ContainerType & tesseract_collision::ContactResultMap::getContainer ( ) const

Get the underlying container.

Warning: Do not use this for anything other than debugging or serialization

◆ release()

void tesseract_collision::ContactResultMap::release ( )

Fully clear all internal data.

◆ setContactResult() [1/2]

ContactResult & tesseract_collision::ContactResultMap::setContactResult	(	const KeyType &	key,
		const MappedType &	results
	)

Set contact results for the provided key.

Parameters

key	The key to assign the provided results to
result	The results to assign

◆ setContactResult() [2/2]

ContactResult & tesseract_collision::ContactResultMap::setContactResult	(	const KeyType &	key,
		ContactResult	result
	)

Set contact results for the provided key.

Parameters

key	The key to assign the provided results to
result	The results to assign

◆ size()

std::size_t tesseract_collision::ContactResultMap::size ( ) const

Get the size of the map.

This loops over the internal map and counts entries with contacts

Returns: The number of entries with contacts

Member Data Documentation

◆ count_

long tesseract_collision::ContactResultMap::count_ { 0 }

private

◆ data_

ContainerType tesseract_collision::ContactResultMap::data_

private

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

tesseract_collision/core/include/tesseract_collision/core/types.h
tesseract_collision/core/src/types.cpp

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstIteratorType

◆ ConstReferenceType

◆ ContainerType

◆ FilterFn

◆ KeyType

◆ MappedType

◆ PairType

Member Function Documentation

◆ addContactResult() [1/2]

◆ addContactResult() [2/2]

◆ addInterpolatedCollisionResults()

◆ at()

◆ begin()

◆ cbegin()

◆ cend()

◆ clear()

◆ count()

◆ empty()

◆ end()

◆ filter()

◆ find()

◆ flattenCopyResults()

◆ flattenMoveResults()

◆ flattenWrapperResults() [1/2]

◆ flattenWrapperResults() [2/2]

◆ getContainer()

◆ release()

◆ setContactResult() [1/2]

◆ setContactResult() [2/2]

◆ size()

Member Data Documentation

◆ count_

◆ data_