tesseract_robotics.tesseract_collision¶

This module is used to provide collision checking capabilities for Tesseract. See tesseract_collision_example.py for an example of how to use collision checking. Collision checking is implemented by plugins that need to be configured. See the main Tesseract documentation for more information on how to configure plugins.

Classes¶

CollisionCheckConfig Class¶

ContactManagerConfig Class¶

ContactManagersPluginFactory Class¶

ContactRequest Class¶

ContactResult Class¶

ContactResultMap Class¶

ContactTrajectoryResults Class¶

ContactTrajectoryStepResults Class¶

ContactTrajectorySubstepResults Class¶

ContinuousContactManager Class¶

ContinuousContactManagerFactory Class¶

ContinuousContactManagerUPtr Class¶

DiscreteContactManager Class¶

DiscreteContactManagerFactory Class¶

DiscreteContactManagerUPtr Class¶

IsContactAllowedFn Class¶

IsContactAllowedFnBase Class¶

IsContactValidFn Class¶

IsContactValidFnBase Class¶

Constants¶

ACMOverrideType_AND
ACMOverrideType_ASSIGN
ACMOverrideType_NONE
ACMOverrideType_OR
CollisionCheckProgramType_ALL
CollisionCheckProgramType_ALL_EXCEPT_END
CollisionCheckProgramType_ALL_EXCEPT_START
CollisionCheckProgramType_END_ONLY
CollisionCheckProgramType_INTERMEDIATE_ONLY
CollisionCheckProgramType_START_ONLY
CollisionEvaluatorType_CONTINUOUS
CollisionEvaluatorType_DISCRETE
CollisionEvaluatorType_LVS_CONTINUOUS
CollisionEvaluatorType_LVS_DISCRETE
CollisionEvaluatorType_NONE
ContactTestType_ALL
ContactTestType_CLOSEST
ContactTestType_FIRST
ContactTestType_LIMITED
ContinuousCollisionType_CCType_Between
ContinuousCollisionType_CCType_None
ContinuousCollisionType_CCType_Time0
ContinuousCollisionType_CCType_Time1

Container Templates¶

ContactResultVector -> tesseract_common::AlignedVector< tesseract_collision::ContactResult>