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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/continuous-validation/solid-solid-collision.hh>


Public Member Functions | |
| value_type | computeMaximalVelocity (vector_t &Vb) const |
| bool | removeObjectTo_b (const CollisionObjectConstPtr_t &object) |
| void | breakDistance (value_type distance) |
| std::string | name () const |
| std::ostream & | print (std::ostream &os) const |
| void | addCollisionPair (const CollisionObjectConstPtr_t &left, const CollisionObjectConstPtr_t &right) |
| const CoefficientVelocities_t & | coefficients () const |
| const JointPtr_t & | joint_a () const |
| Get joint a. | |
| const JointPtr_t & | joint_b () const |
| Get joint b. | |
| size_type | indexJointA () const |
| Returns joint A index or -1 if no such joint exists. | |
| size_type | indexJointB () const |
| Returns joint B index or -1 if no such joint exists. | |
| IntervalValidationPtr_t | copy () const |
Public Member Functions inherited from hpp::core::continuousValidation::BodyPairCollision | |
| bool | validateConfiguration (const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data) |
| const CollisionPairs_t & | pairs () const |
| CollisionPairs_t & | pairs () |
| const CollisionRequests_t & | requests () const |
| CollisionRequests_t & | requests () |
| value_type | maximalVelocity () const |
| value_type | securityMargin () const |
| Get security margin of the first pair of object. | |
| void | securityMargin (const value_type &securityMargin) |
| Set security margin. | |
Public Member Functions inherited from hpp::core::continuousValidation::IntervalValidation | |
| void | path (const PathPtr_t &path, bool reverse) |
| PathConstPtr_t | path () const |
| Get path. | |
| value_type | tolerance () const |
Static Public Member Functions | |
| static SolidSolidCollisionPtr_t | create (const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance) |
| static SolidSolidCollisionPtr_t | create (const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance) |
| static SolidSolidCollisionPtr_t | createCopy (const SolidSolidCollisionPtr_t &other) |
| Copy instance and return shared pointer. | |
Protected Member Functions | |
| SolidSolidCollision (const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance) | |
| SolidSolidCollision (const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance) | |
| SolidSolidCollision (const SolidSolidCollision &other) | |
| Copy constructor. | |
| void | init (const SolidSolidCollisionWkPtr_t &weak) |
Protected Member Functions inherited from hpp::core::continuousValidation::BodyPairCollision | |
| BodyPairCollision (value_type tolerance) | |
| BodyPairCollision (const BodyPairCollision &other) | |
| Copy constructor. | |
| virtual void | setReport (ValidationReportPtr_t &report, coal::CollisionResult result, CollisionPair_t _pair) const |
Protected Member Functions inherited from hpp::core::continuousValidation::IntervalValidation | |
| IntervalValidation (value_type tolerance) | |
| IntervalValidation (const IntervalValidation &other) | |
Additional Inherited Members | |
Protected Types inherited from hpp::core::continuousValidation::IntervalValidation | |
| typedef boost::icl::continuous_interval< value_type > | continuous_interval |
| typedef boost::icl::interval_set< value_type > | interval_set |
Protected Attributes inherited from hpp::core::continuousValidation::IntervalValidation | |
| PathPtr_t | path_ |
| value_type | tolerance_ |
| bool | reverse_ |
| bool | refine_ |
| bool | valid_ |
| interval_set | validInterval_ |
Computation of collision-free sub-intervals of a path
This class derives from BodyPairCollision and validates a subinterval of a path for collision between to robot bodies of between a robot body and the environment. The robot body should be part of an open kinematic chain.
See this document for details.
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protected |
Constructor of inter-body collision checking
| joint_a,joint_b | joint of the bodies to test for collision |
| tolerance | allowed penetration should be positive |
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protected |
Constructor of collision checking with the environment
| joint_a | joint of the body to test for collision with the environment |
| objects_b | environment objects for the collision checking |
| tolerance | allowed penetration should be positive |
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inlineprotected |
Copy constructor.
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virtual |
Reimplemented from hpp::core::continuousValidation::BodyPairCollision.
| void hpp::core::continuousValidation::SolidSolidCollision::breakDistance | ( | value_type | distance | ) |
Set the break distance of each coal::CollisionRequest
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inline |
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virtual |
Compute maximal velocity for a given velocity bound
| Vb | velocity |
Implements hpp::core::continuousValidation::BodyPairCollision.
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virtual |
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static |
Create instance and return shared pointer
| joint_a | joint of the body to test for collision with the environment |
| objects_b | environment objects for the collision checking |
| tolerance | allowed penetration should be positive |
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static |
Create instance and return shared pointer
| joint_a,joint_b | joint of the bodies to test for collision |
| tolerance | allowed penetrationd be positive |
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static |
Copy instance and return shared pointer.
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inlinevirtual |
Returns joint A index or -1 if no such joint exists.
Reimplemented from hpp::core::continuousValidation::BodyPairCollision.
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inlinevirtual |
Returns joint B index or -1 if no such joint exists.
Reimplemented from hpp::core::continuousValidation::BodyPairCollision.
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protected |
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inline |
Get joint a.
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inline |
Get joint b.
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virtual |
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virtual |
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virtual |
Reimplemented from hpp::core::continuousValidation::BodyPairCollision.