Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
or_octomap::OctomapCollisionChecker Class Reference

#include <OctomapCollisionChecker.h>

Inheritance diagram for or_octomap::OctomapCollisionChecker:
Inheritance graph
[legend]

Public Member Functions

virtual bool CheckCollision (OpenRAVE::KinBodyConstPtr pbody1, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBodyConstPtr pbody1, OpenRAVE::KinBodyConstPtr pbody2, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBody::LinkConstPtr plink1, OpenRAVE::KinBody::LinkConstPtr plink2, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::KinBodyConstPtr pbody, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBody::LinkConstPtr plink, const std::vector< OpenRAVE::KinBodyConstPtr > &vbodyexcluded, const std::vector< OpenRAVE::KinBody::LinkConstPtr > &vlinkexcluded, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (OpenRAVE::KinBodyConstPtr pbody, const std::vector< OpenRAVE::KinBodyConstPtr > &vbodyexcluded, const std::vector< OpenRAVE::KinBody::LinkConstPtr > &vlinkexcluded, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (const OpenRAVE::RAY &ray, OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (const OpenRAVE::RAY &ray, OpenRAVE::KinBodyConstPtr pbody, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckCollision (const OpenRAVE::RAY &ray, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBodyConstPtr pbody1, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBodyConstPtr pbody1, OpenRAVE::KinBodyConstPtr pbody2, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBody::LinkConstPtr plink1, OpenRAVE::KinBody::LinkConstPtr plink2, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::KinBodyConstPtr pbody, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBody::LinkConstPtr plink, const std::vector< OpenRAVE::KinBodyConstPtr > &vbodyexcluded, const std::vector< OpenRAVE::KinBody::LinkConstPtr > &vlinkexcluded, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (OpenRAVE::KinBodyConstPtr pbody, const std::vector< OpenRAVE::KinBodyConstPtr > &vbodyexcluded, const std::vector< OpenRAVE::KinBody::LinkConstPtr > &vlinkexcluded, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (const OpenRAVE::RAY &ray, OpenRAVE::KinBody::LinkConstPtr plink, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (const OpenRAVE::RAY &ray, OpenRAVE::KinBodyConstPtr pbody, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckOctomapCollision (const OpenRAVE::RAY &ray, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckStandaloneSelfCollision (OpenRAVE::KinBodyConstPtr body, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual bool CheckStandaloneSelfCollision (OpenRAVE::KinBody::LinkConstPtr body, OpenRAVE::CollisionReportPtr report=OpenRAVE::CollisionReportPtr())
 
virtual void Clone (OpenRAVE::InterfaceBaseConstPtr preference, int cloningoptions)
 
virtual void DestroyEnvironment ()
 
virtual int GetCollisionOptions () const
 
OctomapInterface * GetInterface ()
 
void GetNodesColliding (const std::string &objectName, std::vector< octomap::OcTreeNode * > &nodes)
 
octomap::OcTree * GetTreeClone ()
 
OpenRAVE::CollisionCheckerBasePtr GetWrappedChecker ()
 
virtual bool InitEnvironment ()
 
virtual bool InitKinBody (OpenRAVE::KinBodyPtr pbody)
 
bool MaskObject (std::string name)
 
 OctomapCollisionChecker (OpenRAVE::EnvironmentBasePtr env)
 
 OctomapCollisionChecker (OpenRAVE::EnvironmentBasePtr env, OpenRAVE::CollisionCheckerBasePtr wrappedChecker, OctomapInterface *server)
 
virtual void RemoveKinBody (OpenRAVE::KinBodyPtr body)
 
virtual bool SetCollisionOptions (int collisionoptions)
 
void SetInterface (OctomapInterface *interface)
 
virtual void SetTolerance (OpenRAVE::dReal tolerance)
 
void SetTreeClone (octomap::OcTree *treeClone)
 
void SetWrappedChecker (OpenRAVE::CollisionCheckerBasePtr checker)
 
virtual ~OctomapCollisionChecker ()
 

Protected Member Functions

int CollisionTestTriangle (const OpenRAVE::Vector &t1, const OpenRAVE::Vector &t2, const OpenRAVE::Vector &t3, octomap::OcTree::leaf_bbx_iterator &it)
 
int CollisionTestTriangleAABB (const OpenRAVE::Vector &t1, const OpenRAVE::Vector &t2, const OpenRAVE::Vector &t3, float x, float y, float z, float eX, float eY, float eZ)
 
void ComputeTriangleAABB (const OpenRAVE::Vector &t1, const OpenRAVE::Vector &t2, const OpenRAVE::Vector &t3, OpenRAVE::AABB &aabb)
 
bool ContainsBody (const std::vector< OpenRAVE::KinBodyConstPtr > &links, OpenRAVE::KinBodyConstPtr link)
 
bool ContainsLink (const std::vector< OpenRAVE::KinBody::LinkConstPtr > &links, OpenRAVE::KinBody::LinkConstPtr link)
 
bool ContainsSpecialBody (const std::vector< OpenRAVE::KinBodyConstPtr > &bodies)
 

Protected Attributes

ros::Duration bodyTime
 
ros::Duration geomTime
 
ros::Duration linkTime
 
OctomapInterface * m_server
 
std::string m_specialObject
 
octomap::OcTree * m_treeClone
 
OpenRAVE::CollisionCheckerBasePtr m_wrappedChecker
 
ros::Duration testTime
 
ros::Duration triangleTime
 

Detailed Description

Definition at line 21 of file OctomapCollisionChecker.h.

Constructor & Destructor Documentation

or_octomap::OctomapCollisionChecker::OctomapCollisionChecker ( OpenRAVE::EnvironmentBasePtr  env)

Definition at line 15 of file OctomapCollisionChecker.cpp.

or_octomap::OctomapCollisionChecker::OctomapCollisionChecker ( OpenRAVE::EnvironmentBasePtr  env,
OpenRAVE::CollisionCheckerBasePtr  wrappedChecker,
OctomapInterface *  server 
)

Definition at line 21 of file OctomapCollisionChecker.cpp.

or_octomap::OctomapCollisionChecker::~OctomapCollisionChecker ( )
virtual

Definition at line 29 of file OctomapCollisionChecker.cpp.

Member Function Documentation

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBodyConstPtr  pbody1,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 424 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBodyConstPtr  pbody1,
OpenRAVE::KinBodyConstPtr  pbody2,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 431 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 436 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBody::LinkConstPtr  plink1,
OpenRAVE::KinBody::LinkConstPtr  plink2,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 441 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::KinBodyConstPtr  pbody,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 446 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
const std::vector< OpenRAVE::KinBodyConstPtr > &  vbodyexcluded,
const std::vector< OpenRAVE::KinBody::LinkConstPtr > &  vlinkexcluded,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 451 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( OpenRAVE::KinBodyConstPtr  pbody,
const std::vector< OpenRAVE::KinBodyConstPtr > &  vbodyexcluded,
const std::vector< OpenRAVE::KinBody::LinkConstPtr > &  vlinkexcluded,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 456 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 461 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::KinBodyConstPtr  pbody,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 466 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 471 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBodyConstPtr  pbody1,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 136 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBodyConstPtr  pbody1,
OpenRAVE::KinBodyConstPtr  pbody2,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 143 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 163 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBody::LinkConstPtr  plink1,
OpenRAVE::KinBody::LinkConstPtr  plink2,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 170 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::KinBodyConstPtr  pbody,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 176 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBody::LinkConstPtr  plink,
const std::vector< OpenRAVE::KinBodyConstPtr > &  vbodyexcluded,
const std::vector< OpenRAVE::KinBody::LinkConstPtr > &  vlinkexcluded,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 270 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( OpenRAVE::KinBodyConstPtr  pbody,
const std::vector< OpenRAVE::KinBodyConstPtr > &  vbodyexcluded,
const std::vector< OpenRAVE::KinBody::LinkConstPtr > &  vlinkexcluded,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 312 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::KinBody::LinkConstPtr  plink,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 384 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::KinBodyConstPtr  pbody,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 390 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckOctomapCollision ( const OpenRAVE::RAY &  ray,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 400 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckStandaloneSelfCollision ( OpenRAVE::KinBodyConstPtr  body,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 476 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::CheckStandaloneSelfCollision ( OpenRAVE::KinBody::LinkConstPtr  body,
OpenRAVE::CollisionReportPtr  report = OpenRAVE::CollisionReportPtr() 
)
virtual

Definition at line 481 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::Clone ( OpenRAVE::InterfaceBaseConstPtr  preference,
int  cloningoptions 
)
virtual

Definition at line 55 of file OctomapCollisionChecker.cpp.

int or_octomap::OctomapCollisionChecker::CollisionTestTriangle ( const OpenRAVE::Vector &  t1,
const OpenRAVE::Vector &  t2,
const OpenRAVE::Vector &  t3,
octomap::OcTree::leaf_bbx_iterator &  it 
)
protected

Definition at line 257 of file OctomapCollisionChecker.cpp.

int or_octomap::OctomapCollisionChecker::CollisionTestTriangleAABB ( const OpenRAVE::Vector &  t1,
const OpenRAVE::Vector &  t2,
const OpenRAVE::Vector &  t3,
float  x,
float  y,
float  z,
float  eX,
float  eY,
float  eZ 
)
protected

Definition at line 87 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::ComputeTriangleAABB ( const OpenRAVE::Vector &  t1,
const OpenRAVE::Vector &  t2,
const OpenRAVE::Vector &  t3,
OpenRAVE::AABB &  aabb 
)
protected

Definition at line 235 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::ContainsBody ( const std::vector< OpenRAVE::KinBodyConstPtr > &  links,
OpenRAVE::KinBodyConstPtr  link 
)
protected

Definition at line 199 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::ContainsLink ( const std::vector< OpenRAVE::KinBody::LinkConstPtr > &  links,
OpenRAVE::KinBody::LinkConstPtr  link 
)
protected

Definition at line 212 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::ContainsSpecialBody ( const std::vector< OpenRAVE::KinBodyConstPtr > &  bodies)
protected

Definition at line 186 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::DestroyEnvironment ( )
virtual

Definition at line 491 of file OctomapCollisionChecker.cpp.

int or_octomap::OctomapCollisionChecker::GetCollisionOptions ( ) const
virtual

Definition at line 121 of file OctomapCollisionChecker.cpp.

OctomapInterface* or_octomap::OctomapCollisionChecker::GetInterface ( )
inline

Definition at line 63 of file OctomapCollisionChecker.h.

void or_octomap::OctomapCollisionChecker::GetNodesColliding ( const std::string &  objectName,
std::vector< octomap::OcTreeNode * > &  nodes 
)

Definition at line 502 of file OctomapCollisionChecker.cpp.

octomap::OcTree * or_octomap::OctomapCollisionChecker::GetTreeClone ( )

Definition at line 38 of file OctomapCollisionChecker.cpp.

OpenRAVE::CollisionCheckerBasePtr or_octomap::OctomapCollisionChecker::GetWrappedChecker ( )
inline

Definition at line 59 of file OctomapCollisionChecker.h.

bool or_octomap::OctomapCollisionChecker::InitEnvironment ( )
virtual

Definition at line 486 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::InitKinBody ( OpenRAVE::KinBodyPtr  pbody)
virtual

Definition at line 131 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::MaskObject ( std::string  name)

Definition at line 591 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::RemoveKinBody ( OpenRAVE::KinBodyPtr  body)
virtual

Definition at line 497 of file OctomapCollisionChecker.cpp.

bool or_octomap::OctomapCollisionChecker::SetCollisionOptions ( int  collisionoptions)
virtual

Definition at line 116 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::SetInterface ( OctomapInterface *  interface)
inline

Definition at line 62 of file OctomapCollisionChecker.h.

void or_octomap::OctomapCollisionChecker::SetTolerance ( OpenRAVE::dReal  tolerance)
virtual

Definition at line 126 of file OctomapCollisionChecker.cpp.

void or_octomap::OctomapCollisionChecker::SetTreeClone ( octomap::OcTree *  treeClone)
inline

Definition at line 65 of file OctomapCollisionChecker.h.

void or_octomap::OctomapCollisionChecker::SetWrappedChecker ( OpenRAVE::CollisionCheckerBasePtr  checker)
inline

Definition at line 60 of file OctomapCollisionChecker.h.

Member Data Documentation

ros::Duration or_octomap::OctomapCollisionChecker::bodyTime
protected

Definition at line 83 of file OctomapCollisionChecker.h.

ros::Duration or_octomap::OctomapCollisionChecker::geomTime
protected

Definition at line 86 of file OctomapCollisionChecker.h.

ros::Duration or_octomap::OctomapCollisionChecker::linkTime
protected

Definition at line 84 of file OctomapCollisionChecker.h.

OctomapInterface* or_octomap::OctomapCollisionChecker::m_server
protected

Definition at line 80 of file OctomapCollisionChecker.h.

std::string or_octomap::OctomapCollisionChecker::m_specialObject
protected

Definition at line 78 of file OctomapCollisionChecker.h.

octomap::OcTree* or_octomap::OctomapCollisionChecker::m_treeClone
protected

Definition at line 81 of file OctomapCollisionChecker.h.

OpenRAVE::CollisionCheckerBasePtr or_octomap::OctomapCollisionChecker::m_wrappedChecker
protected

Definition at line 79 of file OctomapCollisionChecker.h.

ros::Duration or_octomap::OctomapCollisionChecker::testTime
protected

Definition at line 85 of file OctomapCollisionChecker.h.

ros::Duration or_octomap::OctomapCollisionChecker::triangleTime
protected

Definition at line 82 of file OctomapCollisionChecker.h.

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

or_octomap_plugin
Author(s): Yan Yu
autogenerated on Tue Oct 24 2017 18:02:48