#include <drake/systems/plants/collision/bullet_model.h>

Inheritance diagram for BulletModel:

Collaboration diagram for BulletModel:

Public Member Functions
	BulletModel ()

virtual	~BulletModel ()

void	updateModel () override
	Perform any operations needed to bring the model up-to-date after making changes to its collision elements. More...

ElementId	addElement (const Element &element) override
	Add a collision element to this model. More...

bool	updateElementWorldTransform (const ElementId, const Eigen::Isometry3d &T_local_to_world) override
	Change the element-to-world transform of a specified collision element. More...

bool	closestPointsAllToAll (const std::vector< ElementId > &ids_to_check, const bool use_margins, std::vector< PointPair > &closest_points) override
	Finds the points where each pair of the elements in ids_to_check are closest. More...

bool	ComputeMaximumDepthCollisionPoints (const bool use_margins, std::vector< PointPair > &points) override
	Computes the point of closest approach between collision elements that are in contact. More...

bool	closestPointsPairwise (const std::vector< ElementIdPair > &id_pairs, const bool use_margins, std::vector< PointPair > &closest_points) override
	Finds the points where each pair of elements in id_pairs are closest. More...

void	collisionDetectFromPoints (const Eigen::Matrix3Xd &points, bool use_margins, std::vector< PointPair > &closest_points) override
	Compute closest distance from each point to any surface in the collision model utilizing Bullet's collision detection code. More...

void	ClearCachedResults (bool use_margins) override
	Clears possibly cached results so that a fresh computation can be performed. More...

bool	collisionRaycast (const Eigen::Matrix3Xd &origins, const Eigen::Matrix3Xd &ray_endpoints, bool use_margins, Eigen::VectorXd &distances, Eigen::Matrix3Xd &normals) override
	Performs raycasting collision detecting (like a LIDAR / laser rangefinder) More...

std::vector< PointPair >	potentialCollisionPoints (bool use_margins) override
	Computes the set of potential collision points for all eligible pairs of collision geometries in this model. More...

bool	collidingPointsCheckOnly (const std::vector< Eigen::Vector3d > &input_points, double collision_threshold) override
	Tests if any of the points supplied in input_points collides with any part of the model within a given threshold. More...

std::vector< size_t >	collidingPoints (const std::vector< Eigen::Vector3d > &input_points, double collision_threshold) override
	Given a vector of points in world coordinates, returns the indices of those points within a specified distance of any collision geometry in the model. More...

Public Member Functions inherited from Model
	Model ()

virtual	~Model ()

bool	removeElement (const ElementId &id)

virtual const Element *	readElement (ElementId id) const
	Get a read-only pointer to a collision element in this model. More...

virtual void	getTerrainContactPoints (ElementId id0, Eigen::Matrix3Xd &terrain_points)

virtual bool	transformCollisionFrame (const DrakeCollision::ElementId &eid, const Eigen::Isometry3d &transform_body_to_joint)
	Modifies a collision element's local transform to be relative to a joint's frame rather than a link's frame. More...

Additional Inherited Members
Protected Attributes inherited from Model
std::unordered_map< ElementId, std::unique_ptr< Element > >	elements

Constructor & Destructor Documentation

BulletModel ( )

inline

virtual ~BulletModel ( )

inlinevirtual

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Member Function Documentation

ElementId addElement ( const Element & element )

overridevirtual

Add a collision element to this model.

Parameters

element the collision element to be added to this model

Returns: an ElementId that uniquely identifies the added element within this model

Reimplemented from Model.

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void ClearCachedResults ( bool use_margins )

overridevirtual

Clears possibly cached results so that a fresh computation can be performed.

Parameters

use_margins[in] If true, the cache of the model with margins is cleared. If false, the cache of the model without margins is cleared.

Depending on the implementation, the collision model may cache results on each dispatch. For instance, Bullet uses cached results to warm-start its LCP solvers.

Clearing cached results allows the collision model to perform a fresh computation without any coupling with previous history.

See also: drake/systems/plants/collision/test/model_test.cc.

Implements Model.

bool closestPointsAllToAll	(	const std::vector< ElementId > &	ids_to_check,
		const bool	use_margins,
		std::vector< PointPair > &	closest_points
	)

overridevirtual

Finds the points where each pair of the elements in ids_to_check are closest.

Inserts those points in closest_points.

Returns: true if any points are found.

Implements Model.

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bool closestPointsPairwise	(	const std::vector< ElementIdPair > &	id_pairs,
		const bool	use_margins,
		std::vector< PointPair > &	closest_points
	)

overridevirtual

Finds the points where each pair of elements in id_pairs are closest.

Inserts those points in closest_points.

Returns: true if any points are found.

Implements Model.

std::vector< size_t > collidingPoints	(	const std::vector< Eigen::Vector3d > &	input_points,
		double	collision_threshold
	)

overridevirtual

Given a vector of points in world coordinates, returns the indices of those points within a specified distance of any collision geometry in the model.

In other words, this method tests if a sphere of radius collision_threshold located at input_points[i] collides with any part of the model. The result is returned as a vector of indexes in input_points that do collide with the model. Points are not checked against one another but only against the existing model.

Parameters

input_points	The list of points to check for collisions against the model.
collision_threshold	The radius of a control sphere around each point used to check for collisions with the model.

Returns: A vector with indexes in input_points of all those points that do collide with the model within the specified threshold.

See also: systems/plants/test/collidingPointsTest.m for a Matlab test.

Implements Model.

bool collidingPointsCheckOnly	(	const std::vector< Eigen::Vector3d > &	input_points,
		double	collision_threshold
	)

overridevirtual

Tests if any of the points supplied in input_points collides with any part of the model within a given threshold.

In other words, this method tests if any of the spheres of radius collision_threshold located at input_points[i] collides with any part of the model. This method returns as soon as any of these spheres collides with the model. Points are not checked against one another but only against the existing model.

Parameters

input_points	The list of points to check for collisions against the model.
collision_threshold	The radius of a control sphere around each point used to check for collisions with the model.

Returns: true if any of the points positively checks for collision. false otherwise.

Implements Model.

void collisionDetectFromPoints	(	const Eigen::Matrix3Xd &	points,
		bool	use_margins,
		std::vector< PointPair > &	closest_points
	)

overridevirtual

Compute closest distance from each point to any surface in the collision model utilizing Bullet's collision detection code.

Parameters

	points	Matrix of points computing distance from.
	use_margins	flag indicating whether or not to use the version of this model with collision margins
[out]	closest_points	a vector of PointPair objects containing the signed distances

Implements Model.

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bool collisionRaycast	(	const Eigen::Matrix3Xd &	origin,
		const Eigen::Matrix3Xd &	ray_endpoint,
		bool	use_margins,
		Eigen::VectorXd &	distances,
		Eigen::Matrix3Xd &	normals
	)

overridevirtual

Performs raycasting collision detecting (like a LIDAR / laser rangefinder)

Parameters

	origin	3 x N matrix in which each column specifies the position of a ray's origin in world coordinates. if origin is 3x1, then the same origin is used for all raycasts
	ray_endpoint	3 x N matrix in which each column specifies a second point on the corresponding ray
	use_margins	flag indicating whether or not to use the version of this model with collision margins
[out]	distance	to the first collision, or -1 on no collision

Returns: true if this method ran successfully

Implements Model.

bool ComputeMaximumDepthCollisionPoints	(	const bool	use_margins,
		std::vector< PointPair > &	closest_points
	)

overridevirtual

Computes the point of closest approach between collision elements that are in contact.

Parameters

[in]	use_margins	If `true` the model uses the representation with margins. If `false`, the representation without margins is used instead.
[out]	closest_points	reference to a vector of PointPair objects that contains the closest point information after this method is called.

Returns: true if this method ran successfully and false otherwise.

Implements Model.

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std::vector< PointPair > potentialCollisionPoints ( bool use_margins )

overridevirtual

Computes the set of potential collision points for all eligible pairs of collision geometries in this model.

This includes the points of closest approach, but may also include additional points that are "close" to being in contact. This can be useful when simulating scenarios in which two collision elements have more than one point of contact.

This implementation uses Bullet's random perturbation approach to generate the additional contact points. Bullet performs discrete collision detection multiple times with small perturbations to the pose of each collision geometry. The potential collision points are the union of the closest points found in each of these perturbed runs.

Parameters

use_margins flag indicating whether or not to use the version of this model with collision margins.

Returns: a vector of PointPair objects containing the potential collision points.

Exceptions

An	std::runtime_error if calls to this method are mixed with other dispatching methods such as BulletModel::collisionPointsAllToAll since mixing dispatch methods causes undefined behavior.

Implements Model.

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bool updateElementWorldTransform	(	const ElementId	id,
		const Eigen::Isometry3d &	T_local_to_world
	)

overridevirtual

Change the element-to-world transform of a specified collision element.

Parameters

id	an ElementId corresponding to the element to be updated
T_local_to_world	the new value for the element-to-world transform

Reimplemented from Model.

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void updateModel ( )

overridevirtual

Perform any operations needed to bring the model up-to-date after making changes to its collision elements.

Implements Model.

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

drake/systems/plants/collision/bullet_model.h
drake/systems/plants/collision/bullet_model.cc

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation