Wrapper for FCL discrete and continuous collision checking and distance queries. More...

Public Types
using	Vector3 = fcl::Vec3f

using	Quaternion = fcl::Quaternion3f

using	Transform = fcl::Transform3f

using	BVType = fcl::OBBRSS

using	Model = fcl::BVHModel< BVType >

using	MeshDistanceTraversalNodeOBBRSS = fcl::MeshDistanceTraversalNodeOBBRSS

using	CollisionRequest = fcl::CollisionRequest

using	CollisionResult = fcl::CollisionResult

using	ContinuousCollisionRequest = fcl::ContinuousCollisionRequest

using	ContinuousCollisionResult = fcl::ContinuousCollisionResult

using	DistanceRequest = fcl::DistanceRequest

using	DistanceResult = fcl::DistanceResult

using	FCLPoseFromStateCallback = std::function< void(Transform &, const base::State *)>

Public Member Functions
	FCLMethodWrapper (const GeometrySpecification &geom, GeometricStateExtractor se, bool selfCollision, FCLPoseFromStateCallback poseCallback)

virtual bool	isValid (const base::State *state) const
	Checks whether the given robot state collides with the environment or itself.

virtual bool	isValid (const base::State s1, const base::State s2, double &collisionTime) const
	Check the continuous motion between s1 and s2. If there is a collision collisionTime will contain the parameterized time to collision in the range [0,1).

virtual double	clearance (const base::State *state) const
	Returns the minimum distance from the given robot state and the environment.

Protected Member Functions
void	configure (const GeometrySpecification &geom)
	Configures the geometry of the robot and the environment to setup validity checking.

std::pair< std::vector< Vector3 >, std::vector< fcl::Triangle > >	getFCLModelFromScene (const aiScene *scene, const aiVector3D &center) const
	Convert a mesh to a FCL BVH model.

std::pair< std::vector< Vector3 >, std::vector< fcl::Triangle > >	getFCLModelFromScene (const std::vector< const aiScene * > &scenes, const std::vector< aiVector3D > &center) const
	Convert a mesh to a FCL BVH model.

Protected Attributes
Model	environment_
	Geometric model used for the environment.

std::vector< Model * >	robotParts_
	List of components for the geometric model of the robot.

GeometricStateExtractor	extractState_
	Callback to get the geometric portion of a specific state.

bool	selfCollision_
	Flag indicating whether the geometry is checked for self collisions.

FCLPoseFromStateCallback	poseFromStateCallback_
	Callback to extract translation and rotation from a state.

Detailed Description

Wrapper for FCL discrete and continuous collision checking and distance queries.

Definition at line 68 of file FCLMethodWrapper.h.

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

Public Types