VirtualRobot::CollisionCheckerPQP Class Reference

Inheritance diagram for VirtualRobot::CollisionCheckerPQP:

Public Member Functions
	CollisionCheckerPQP ()
	~CollisionCheckerPQP () override
float	calculateDistance (const CollisionModelPtr &model1, const CollisionModelPtr &model2, Eigen::Vector3f &P1, Eigen::Vector3f &P2, int *trID1=NULL, int *trID2=NULL) final
bool	checkCollision (const CollisionModelPtr &model1, const CollisionModelPtr &model2) final
bool	checkCollision (const CollisionModelPtr &model1, const Eigen::Vector3f &point, float tolerance=0.0f) final
MultiCollisionResult	checkMultipleCollisions (CollisionModelPtr const &model1, CollisionModelPtr const &model2)
float	getMinDistance (std::shared_ptr< PQP::PQP_Model > m1, std::shared_ptr< PQP::PQP_Model > m2, const Eigen::Matrix4f &mat1, const Eigen::Matrix4f &mat2)
float	getMinDistance (std::shared_ptr< PQP::PQP_Model > m1, std::shared_ptr< PQP::PQP_Model > m2, const Eigen::Matrix4f &mat1, const Eigen::Matrix4f &mat2, Eigen::Vector3f &storeP1, Eigen::Vector3f &storeP2, int *storeID1, int *storeID2)
void	GetPQPDistance (const std::shared_ptr< PQP::PQP_Model > &model1, const std::shared_ptr< PQP::PQP_Model > &model2, const Eigen::Matrix4f &matrix1, const Eigen::Matrix4f &matrix2, PQP::PQP_DistanceResult &pqpResult)
Public Member Functions inherited from VirtualRobot::CollisionCheckerImplementation
	CollisionCheckerImplementation ()
virtual	~CollisionCheckerImplementation ()
virtual void	setAutomaticSizeCheck (bool checkSizeOnColModelCreation)
virtual void	enableDebugOutput (bool e)

Static Public Member Functions
static bool	IsSupported_CollisionDetection ()
static bool	IsSupported_ContinuousCollisionDetection ()
static bool	IsSupported_DistanceCalculations ()
static bool	IsSupported_Multithreading_Threadsafe ()
static bool	IsSupported_Multithreading_MultipleColCheckers ()

Protected Attributes
PQP::PQP_Checker *	pqpChecker
std::unique_ptr< PQP::PQP_Model >	pointModel
Protected Attributes inherited from VirtualRobot::CollisionCheckerImplementation
bool	automaticSizeCheck

Friends
class	CollisionChecker

Additional Inherited Members
Data Fields inherited from VirtualRobot::CollisionCheckerImplementation
bool	debugOutput

Detailed Description

This implementation encapsulates the PQP collision checker.

Constructor & Destructor Documentation

CollisionCheckerPQP()

VirtualRobot::CollisionCheckerPQP::CollisionCheckerPQP

(

)

~CollisionCheckerPQP()

VirtualRobot::CollisionCheckerPQP::~CollisionCheckerPQP ( )

override

Member Function Documentation

calculateDistance()

float VirtualRobot::CollisionCheckerPQP::calculateDistance ( const CollisionModelPtr &  model1, const CollisionModelPtr &  model2, Eigen::Vector3f &  P1, Eigen::Vector3f &  P2, int *  trID1 = NULL, int *  trID2 = NULL  )

finalvirtual

Implements VirtualRobot::CollisionCheckerImplementation.

checkCollision() [1/2]

bool VirtualRobot::CollisionCheckerPQP::checkCollision ( const CollisionModelPtr &  model1, const CollisionModelPtr &  model2  )

finalvirtual

Implements VirtualRobot::CollisionCheckerImplementation.

checkCollision() [2/2]

bool VirtualRobot::CollisionCheckerPQP::checkCollision ( const CollisionModelPtr &  model1, const Eigen::Vector3f &  point, float  tolerance = 0.0f  )

finalvirtual

Implements VirtualRobot::CollisionCheckerImplementation.

checkMultipleCollisions()

MultiCollisionResult VirtualRobot::CollisionCheckerPQP::checkMultipleCollisions	(	CollisionModelPtr const &	model1,
		CollisionModelPtr const &	model2
	)

getMinDistance() [1/2]

float VirtualRobot::CollisionCheckerPQP::getMinDistance	(	std::shared_ptr< PQP::PQP_Model >	m1,
		std::shared_ptr< PQP::PQP_Model >	m2,
		const Eigen::Matrix4f &	mat1,
		const Eigen::Matrix4f &	mat2
	)

If continuous collision detection (CCD) is supported, this method can be used to detect collisions on the path from the current pose of the collision models to the goal poses. true -> collision (then the time of contact [0..1] is stored to fStoreTOC)

getMinDistance() [2/2]

float VirtualRobot::CollisionCheckerPQP::getMinDistance	(	std::shared_ptr< PQP::PQP_Model >	m1,
		std::shared_ptr< PQP::PQP_Model >	m2,
		const Eigen::Matrix4f &	mat1,
		const Eigen::Matrix4f &	mat2,
		Eigen::Vector3f &	storeP1,
		Eigen::Vector3f &	storeP2,
		int *	storeID1,
		int *	storeID2
	)

GetPQPDistance()

void VirtualRobot::CollisionCheckerPQP::GetPQPDistance	(	const std::shared_ptr< PQP::PQP_Model > &	model1,
		const std::shared_ptr< PQP::PQP_Model > &	model2,
		const Eigen::Matrix4f &	matrix1,
		const Eigen::Matrix4f &	matrix2,
		PQP::PQP_DistanceResult &	pqpResult
	)

IsSupported_CollisionDetection()

static bool VirtualRobot::CollisionCheckerPQP::IsSupported_CollisionDetection ( )

inlinestatic

Does the underlying collision detection library support discrete collision detection.

IsSupported_ContinuousCollisionDetection()

static bool VirtualRobot::CollisionCheckerPQP::IsSupported_ContinuousCollisionDetection ( )

inlinestatic

Does the underlying collision detection library support continuous collision detection.

IsSupported_DistanceCalculations()

static bool VirtualRobot::CollisionCheckerPQP::IsSupported_DistanceCalculations ( )

inlinestatic

Does the underlying collision detection library support distance calculations.

IsSupported_Multithreading_MultipleColCheckers()

static bool VirtualRobot::CollisionCheckerPQP::IsSupported_Multithreading_MultipleColCheckers ( )

inlinestatic

Does the underlying collision detection library support multiple instances of the collision checker. E.g. one per thread.

IsSupported_Multithreading_Threadsafe()

static bool VirtualRobot::CollisionCheckerPQP::IsSupported_Multithreading_Threadsafe ( )

inlinestatic

Does the underlying collision detection library support threadsafe access. E.g. multiple threads query the collision checker asynchronously.

Friends And Related Function Documentation

CollisionChecker

friend class CollisionChecker

friend

Field Documentation

pointModel

std::unique_ptr<PQP::PQP_Model> VirtualRobot::CollisionCheckerPQP::pointModel

protected

pqpChecker

PQP::PQP_Checker* VirtualRobot::CollisionCheckerPQP::pqpChecker

protected