hpp::core::ObstacleUser Class Reference

Stores a set of obstacles (movable or static). More...

#include <hpp/core/obstacle-user.hh>

Inheritance diagram for hpp::core::ObstacleUser:

Collaboration diagram for hpp::core::ObstacleUser:

Public Member Functions
virtual	~ObstacleUser ()=default
const CollisionPairs_t &	pairs () const
CollisionPairs_t &	pairs ()
const CollisionRequests_t &	requests () const
CollisionRequests_t &	requests ()
coal::CollisionRequest &	defaultRequest ()
void	setRequests (const coal::CollisionRequest &r)
virtual void	addObstacle (const CollisionObjectConstPtr_t &object)
virtual void	addObstacleToJoint (const CollisionObjectConstPtr_t &object, const JointPtr_t &joint, const bool includeChildren)
virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)
virtual void	setSecurityMargins (const matrix_t &securityMatrix)
virtual void	setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()=default

Static Public Member Functions
static bool	collide (const CollisionPairs_t &pairs, CollisionRequests_t &reqs, coal::CollisionResult &res, std::size_t &i, pinocchio::DeviceData &data)

Protected Member Functions
	ObstacleUser (DevicePtr_t robot)
	Constructor of body pair collision. More...
	ObstacleUser (const ObstacleUser &other)
	Copy constructor. More...
void	addRobotCollisionPairs ()

Protected Attributes
DevicePtr_t	robot_
coal::CollisionRequest	defaultRequest_
CollisionPairs_t	cPairs_
CollisionPairs_t	pPairs_
	Active collision pairs. More...
CollisionPairs_t	dPairs_
	Parameterized collision pairs. More...
CollisionRequests_t	cRequests_
	Disabled collision pairs. More...
CollisionRequests_t	pRequests_
	Active collision requests. More...
CollisionRequests_t	dRequests_
	Parameterized collision requests. More...

Detailed Description

Stores a set of obstacles (movable or static).

Constructor & Destructor Documentation

~ObstacleUser()

virtual hpp::core::ObstacleUser::~ObstacleUser ( )

virtualdefault

ObstacleUser() [1/2]

hpp::core::ObstacleUser::ObstacleUser ( DevicePtr_t  robot )

inlineprotected

Constructor of body pair collision.

ObstacleUser() [2/2]

hpp::core::ObstacleUser::ObstacleUser ( const ObstacleUser &  other )

inlineprotected

Copy constructor.

Member Function Documentation

addObstacle()

virtual void hpp::core::ObstacleUser::addObstacle ( const CollisionObjectConstPtr_t &  object )

virtual

Add an obstacle

Parameters

object

obstacle added

Implements hpp::core::ObstacleUserInterface.

addObstacleToJoint()

virtual void hpp::core::ObstacleUser::addObstacleToJoint ( const CollisionObjectConstPtr_t &  object, const JointPtr_t &  joint, const bool  includeChildren  )

virtual

Add an obstacle to a specific joint

Parameters

object	obstacle added
joint	concerned with obstacle addition
includeChildren	whether to add obstacle to joint children Store obstacle and build a collision pair with each body of the robot.

addRobotCollisionPairs()

void hpp::core::ObstacleUser::addRobotCollisionPairs ( )

protected

collide()

static bool hpp::core::ObstacleUser::collide ( const CollisionPairs_t &  pairs, CollisionRequests_t &  reqs, coal::CollisionResult &  res, std::size_t &  i, pinocchio::DeviceData &  data  )

static

defaultRequest()

coal::CollisionRequest& hpp::core::ObstacleUser::defaultRequest ( )

inline

filterCollisionPairs()

virtual void hpp::core::ObstacleUser::filterCollisionPairs ( const RelativeMotion::matrix_type &  relMotion )

virtual

Filter collision pairs.

Remove pairs of object that cannot be in collision. This effectively disables collision detection between objects that have no possible relative motion due to the constraints.

Todo:

Before disabling collision pair, check if there is a collision.

Parameters

relMotion

square symmetric matrix of RelativeMotionType of size numberDof x numberDof

Implements hpp::core::ObstacleUserInterface.

pairs() [1/2]

CollisionPairs_t& hpp::core::ObstacleUser::pairs ( )

inline

pairs() [2/2]

const CollisionPairs_t& hpp::core::ObstacleUser::pairs ( ) const

inline

removeObstacleFromJoint()

virtual void hpp::core::ObstacleUser::removeObstacleFromJoint ( const JointPtr_t &  joint, const CollisionObjectConstPtr_t &  object  )

virtual

Remove a collision pair between a joint and an obstacle

Parameters

joint	that holds the inner objects,
obstacle	to remove.

Implements hpp::core::ObstacleUserInterface.

requests() [1/2]

CollisionRequests_t& hpp::core::ObstacleUser::requests ( )

inline

requests() [2/2]

const CollisionRequests_t& hpp::core::ObstacleUser::requests ( ) const

inline

setRequests()

void hpp::core::ObstacleUser::setRequests

(

const coal::CollisionRequest &

r

)

setSecurityMarginBetweenBodies()

virtual void hpp::core::ObstacleUser::setSecurityMarginBetweenBodies ( const std::string &  body_a, const std::string &  body_b, const value_type &  margin  )

virtual

Set security margin for collision pair between the two bodies.

See also

coal::CollisionRequest::security_margin.

Implements hpp::core::ObstacleUserInterface.

setSecurityMargins()

virtual void hpp::core::ObstacleUser::setSecurityMargins ( const matrix_t &  securityMatrix )

virtual

Set different security margins for collision pairs

This function works joint-wise. If you need a finer control, use setSecurityMarginBetweenBodies

This method enables users to choose different security margins for each pair of robot joint or each pair robot joint - obstacle.

See also

coal::CollisionRequest::security_margin.

Implements hpp::core::ObstacleUserInterface.

Member Data Documentation

cPairs_

CollisionPairs_t hpp::core::ObstacleUser::cPairs_

protected

cRequests_

CollisionRequests_t hpp::core::ObstacleUser::cRequests_

protected

Disabled collision pairs.

defaultRequest_

coal::CollisionRequest hpp::core::ObstacleUser::defaultRequest_

protected

dPairs_

CollisionPairs_t hpp::core::ObstacleUser::dPairs_

protected

Parameterized collision pairs.

dRequests_

CollisionRequests_t hpp::core::ObstacleUser::dRequests_

protected

Parameterized collision requests.

pPairs_

CollisionPairs_t hpp::core::ObstacleUser::pPairs_

protected

Active collision pairs.

pRequests_

CollisionRequests_t hpp::core::ObstacleUser::pRequests_

protected

Active collision requests.

robot_

DevicePtr_t hpp::core::ObstacleUser::robot_

protected

---

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

• include/hpp/core/obstacle-user.hh