The CollisionDetector implements an efficient way of checking a complete frame tree for collisions. More...

#include <CollisionDetector.hpp>

Inherits ProximityCalculator< rw::proximity::CollisionStrategy >.

Classes
struct	QueryResult
	result of a collision query More...

Public Types
enum	QueryType { AllContactsFullInfo , AllContactsNoInfo , FirstContactFullInfo , FirstContactNoInfo }
	types of collision query More...

typedef rw::core::Ptr< CollisionDetector >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const CollisionDetector >	CPtr
	smart pointer type to this const class

Public Types inherited from ProximityCalculator< rw::proximity::CollisionStrategy >
typedef rw::proximity::CollisionStrategy	Strategy
	the strategy used for detection

typedef rw::core::Ptr< ProximityCalculator >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const ProximityCalculator >	CPtr
	smart pointer type to this const class

typedef rw::core::Ptr< std::vector< ProximityStrategyData > >	ResultType
	the type used to store results in.

Public Member Functions
	CollisionDetector (rw::core::Ptr< rw::models::WorkCell > workcell)
	Collision detector for a workcell with only broad-phase collision checking. More...

	CollisionDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< rw::proximity::CollisionStrategy > strategy)
	Collision detector for a workcell. More...

	CollisionDetector (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< rw::proximity::CollisionStrategy > strategy, rw::core::Ptr< ProximityFilterStrategy > filter)
	Collision detector for a workcell. Collision checking is done for the provided collision setup alone. More...

bool	inCollision (const kinematics::State &state, QueryResult *result=0, bool stopAtFirstContact=false) const
	Check the workcell for collisions. More...

bool	inCollision (const kinematics::State &state, rw::proximity::ProximityData &data) const
	Check the workcell for collisions. More...

bool	inCollision (const rw::kinematics::State &state, std::vector< std::pair< rw::kinematics::Frame , rw::kinematics::Frame >> &result, bool stopAtFirstContact=false)
	Check the workcell for collisions. More...

rw::core::Ptr< rw::proximity::CollisionStrategy >	getCollisionStrategy () const
	Get the narrow-phase collision strategy. More...

bool	addGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > geometry)
	Add Geometry associated to frame. More...

void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > geometry)
	Removes geometry from CollisionDetector. More...

void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string geometryId)
	Removes geometry from CollisionDetector. More...

std::vector< std::string >	getGeometryIDs (rw::core::Ptr< rw::kinematics::Frame > frame)
	return the ids of all the geometries of this frames.

bool	hasGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geometryId)
	Returns whether frame has an associated geometry with geometryId. More...

rw::core::Ptr< rw::geometry::Geometry >	getGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geometryId)
	Get the geometry from its ID. More...

Public Member Functions inherited from ProximityCalculator< rw::proximity::CollisionStrategy >
	ProximityCalculator (rw::core::Ptr< rw::kinematics::Frame > root, rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< Strategy > strategy, const rw::kinematics::State &initial_state)
	Proximity calculations for a given tree, collision setup and primitive Proximity calculator. Uses proximity strategy given by the workcell. More...

	ProximityCalculator (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< Strategy > strategy)
	Construct proximity calculator for a WorkCell with an associated proximity strategy. More...

	ProximityCalculator (const ProximityCalculator &)=delete
	Copy constructor is non-existent. Copying is not possible!

ProximityCalculator &	operator= (const ProximityCalculator &)=delete
	Assignment operator is non-existent. Copying is not possible!

ProximityStrategyData	calculate (const rw::kinematics::State &state, rw::core::Ptr< ProximityStrategyData > settings=rw::core::Ptr< ProximityStrategyData >(), rw::core::Ptr< std::vector< ProximityStrategyData >> results=rw::core::Ptr< std::vector< ProximityStrategyData >>())
	Performece the Proximity calculation based on the chosen strategy type. As the varius strategies usese differenct settings all settings will be extracted from settings. If more then the default result is needed (first collision or shortest distance) result can given to get the extra info. More...

rw::core::Ptr< ProximityFilterStrategy >	getProximityFilterStrategy () const
	The Proximity Filter strategy of the ProximityCalculator.

void	setProximityFilterStrategy (rw::core::Ptr< ProximityFilterStrategy > proxStrategy)
	Set the Proximity Filter strategy of the ProximityCalculator. More...

void	setStrategy (rw::core::Ptr< Strategy > strategy)
	Set a new strategy. OBS. models are stored in the strategy, so make sure that the new strategy includes all nessesary models. More...

rw::core::Ptr< Strategy >	getStrategy () const
	Get the ProximityStrategy. More...

bool	addGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > &geometry)
	Add Geometry associated to frame. More...

void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const rw::core::Ptr< rw::geometry::Geometry > &geometry)
	Removes geometry from ProximityCalculator. More...

void	removeGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string geometryId)
	Removes geometry from ProximityCalculator. More...

void	addRule (const rw::proximity::ProximitySetupRule &rule)
	Adds rule specifying inclusion/exclusion of frame pairs in Proximity calculation.

void	removeRule (const rw::proximity::ProximitySetupRule &rule)
	Removes rule specifying inclusion/exclusion of frame pairs in Proximity calculation.

double	getComputationTime () const
	Get the computation time used in the inCollision functions. More...

size_t	getNoOfCalls () const
	Get the number of times the inCollision functions have been called. More...

void	resetComputationTimeAndCount ()
	Reset the counter for inCollision invocations and the computation timer.

std::vector< std::string >	getGeometryIDs (rw::core::Ptr< rw::kinematics::Frame > frame)
	return the ids of all the geometries of this frames.

bool	hasGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geometryId)
	Returns whether frame has an associated geometry with geometryId. More...

rw::core::Ptr< rw::geometry::Geometry >	getGeometry (rw::core::Ptr< rw::kinematics::Frame > frame, const std::string &geometryId)
	Get the geometry from its ID. More...

Static Public Member Functions
static rw::core::Ptr< rw::proximity::CollisionDetector >	make (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< rw::proximity::CollisionStrategy > strategy)

Static Public Member Functions inherited from ProximityCalculator< rw::proximity::CollisionStrategy >
static rw::core::Ptr< ProximityCalculator< R > >	make (rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< R > strategy)
	static function to make a new ProximityCalculator More...

Detailed Description

The CollisionDetector implements an efficient way of checking a complete frame tree for collisions.

It relies on a BroadPhaseDetector to do initial filtering which removes obviously not colliding frame pairs.

After the filtering the remaining frame pairs are tested for collision using an CollisionStrategy which is a narrow phase collision detector.

The collision detector does not dictate a specific detection strategy or algorithm, instead it relies on the CollisionStrategy interface for the actual collision checking between two frames.

Note: The collision detector is not thread safe and as such should not be used by multiple threads at a time.

Member Enumeration Documentation

◆ QueryType

enum QueryType

types of collision query

Enumerator
AllContactsFullInfo	find all collisions and return full collision information eg. CollisionStrategy::AllContact
AllContactsNoInfo	find all collisions but without collision information eg. CollisionStrategy::FirstContact
FirstContactFullInfo	return on first contact and include full collision information eg. CollisionStrategy::AllContact
FirstContactNoInfo	return on first collision but without collision information eg. CollisionStrategy::FirstContact

Constructor & Destructor Documentation

◆ CollisionDetector() [1/3]

CollisionDetector ( rw::core::Ptr< rw::models::WorkCell > workcell )

Collision detector for a workcell with only broad-phase collision checking.

The default collision setup stored in the workcell is used for broad phase collision filtering as a static filter list.

Notice that no narrow phase checking is performed. If broad-phase filter returns any frame-pairs, this will be taken as a collision.

Parameters

workcell [in] the workcell.

◆ CollisionDetector() [2/3]

CollisionDetector	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::core::Ptr< rw::proximity::CollisionStrategy >	strategy
	)

Collision detector for a workcell.

The collision detector is initialized with the strategy . Notice that the collision detector will create and store models inside the strategy .

The default collision setup stored in the workcell is used for broad phase collision filtering as a static filter list.

Parameters

workcell	[in] the workcell.
strategy	[in/out] the strategy for narrow-phase checking. The strategy will have models added to it.

◆ CollisionDetector() [3/3]

CollisionDetector	(	rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::core::Ptr< rw::proximity::CollisionStrategy >	strategy,
		rw::core::Ptr< ProximityFilterStrategy >	filter
	)

Collision detector for a workcell. Collision checking is done for the provided collision setup alone.

Parameters

workcell	[in] the workcell.
strategy	[in/out] the strategy for narrow-phase checking. The strategy will have models added to it.
filter	[in] proximity filter used to cull or filter frame-pairs that are obviously not colliding

Member Function Documentation

◆ addGeometry()

bool addGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::core::Ptr< rw::geometry::Geometry >	geometry
	)

Add Geometry associated to frame.

The current shape of the geometry is copied, hence later changes to geometry has no effect

Parameters

frame	[in] Frame to associate geometry to
geometry	[in] Geometry to add

◆ getCollisionStrategy()

rw::core::Ptr<rw::proximity::CollisionStrategy> getCollisionStrategy ( ) const

inline

Get the narrow-phase collision strategy.

Returns: the strategy if set, otherwise NULL.

◆ getGeometry()

rw::core::Ptr<rw::geometry::Geometry> getGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	geometryId
	)

Get the geometry from its ID.

Parameters

frame	[in] the frame of the geometry
geometryId	[in] the ID of the geometry

Returns: Pointer to the geometry

◆ hasGeometry()

bool hasGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string &	geometryId
	)

Returns whether frame has an associated geometry with geometryId.

Parameters

frame	[in] Frame in question
geometryId	[in] Id of the geometry

◆ inCollision() [1/3]

bool inCollision	(	const kinematics::State &	state,
		QueryResult *	result = `0`,
		bool	stopAtFirstContact = `false`
	)		const

Check the workcell for collisions.

Parameters

state	[in] The state for which to check for collisions.
result	[out] If non-NULL, the pairs of colliding frames are inserted in result.
stopAtFirstContact	[in] If result is non-NULL and stopAtFirstContact is true, then only the first colliding pair is inserted in result. By default all colliding pairs are inserted.

Returns: true if a collision is detected; false otherwise.

◆ inCollision() [2/3]

bool inCollision	(	const kinematics::State &	state,
		rw::proximity::ProximityData &	data
	)		const

Check the workcell for collisions.

Parameters

state	[in] The state for which to check for collisions.
data	[in/out] Defines parameters for the collision check, the results and also enables caching inbetween calls to incollision

Returns: true if a collision is detected; false otherwise.

◆ inCollision() [3/3]

bool inCollision	(	const rw::kinematics::State &	state,
		std::vector< std::pair< rw::kinematics::Frame , rw::kinematics::Frame >> &	result,
		bool	stopAtFirstContact = `false`
	)

inline

Check the workcell for collisions.

Parameters

state	[in] The state for which to check for collisions.
result	[out] Where to store pairs of colliding frames.
stopAtFirstContact	[in] If result is non-NULL and stopAtFirstContact is true, then only the first colliding pair is inserted in result. By default all colliding pairs are inserted.

Returns: true if a collision is detected; false otherwise.

◆ removeGeometry() [1/2]

void removeGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const rw::core::Ptr< rw::geometry::Geometry >	geometry
	)

Removes geometry from CollisionDetector.

The id of the geometry is used to match the collision model to the geometry.

Parameters

frame	[in] The frame which has the geometry associated
geometry	[in] Geometry with the id to be removed

◆ removeGeometry() [2/2]

void removeGeometry	(	rw::core::Ptr< rw::kinematics::Frame >	frame,
		const std::string	geometryId
	)

Removes geometry from CollisionDetector.

The geometryId is used to match the collision model to the geometry.

Parameters

frame	[in] The frame which has the geometry associated
geometryId	[in] Id of geometry to be removed

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

CollisionDetector.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ QueryType

Constructor & Destructor Documentation

◆ CollisionDetector() [1/3]

◆ CollisionDetector() [2/3]

◆ CollisionDetector() [3/3]

Member Function Documentation

◆ addGeometry()

◆ getCollisionStrategy()

◆ getGeometry()

◆ hasGeometry()

◆ inCollision() [1/3]

◆ inCollision() [2/3]

◆ inCollision() [3/3]

◆ removeGeometry() [1/2]

◆ removeGeometry() [2/2]