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

Inheritance diagram for Model:

Collaboration diagram for Model:

Public Member Functions
	Model ()

virtual	~Model ()

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

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 void	updateModel ()=0
	Perform any operations needed to bring the model up-to-date after making changes to its collision elements. More...

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

virtual bool	closestPointsAllToAll (const std::vector< ElementId > &ids_to_check, const bool use_margins, std::vector< PointPair > &closest_points)=0
	Compute the points of closest approach between all eligible pairs of collision elements drawn from a specified set of elements. More...

virtual bool	ComputeMaximumDepthCollisionPoints (const bool use_margins, std::vector< PointPair > &closest_points)=0
	Computes the point of closest approach between collision elements that are in contact. More...

virtual bool	closestPointsPairwise (const std::vector< ElementIdPair > &id_pairs, const bool use_margins, std::vector< PointPair > &closest_points)=0
	Compute the points of closest approach between specified pairs of collision elements. More...

virtual void	ClearCachedResults (bool use_margins)=0
	Clears possibly cached results so that a fresh computation can be performed. More...

virtual void	collisionDetectFromPoints (const Eigen::Matrix3Xd &points, bool use_margins, std::vector< PointPair > &closest_points)=0
	Compute closest distance from each point to any surface in the collision model utilizing Bullet's collision detection code. More...

virtual std::vector< PointPair >	potentialCollisionPoints (bool use_margins)=0
	Compute the set of potential collision points for all eligible pairs of collision geometries in this model. More...

virtual std::vector< size_t >	collidingPoints (const std::vector< Eigen::Vector3d > &input_points, double collision_threshold)=0
	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...

virtual bool	collidingPointsCheckOnly (const std::vector< Eigen::Vector3d > &input_points, double collision_threshold)=0
	Tests if any of the points supplied in input_points collides with any part of the model within a given threshold. More...

virtual bool	collisionRaycast (const Eigen::Matrix3Xd &origin, const Eigen::Matrix3Xd &ray_endpoint, bool use_margins, Eigen::VectorXd &distances, Eigen::Matrix3Xd &normals)=0
	Performs raycasting collision detecting (like a LIDAR / laser rangefinder) More...

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...

Protected Attributes
std::unordered_map< ElementId, std::unique_ptr< Element > >	elements

Friends
DRAKECOLLISION_EXPORT std::ostream &	operator<< (std::ostream &, const Model &)
	A toString method for this class. More...

Constructor & Destructor Documentation

Model ( )

inline

virtual ~Model ( )

inlinevirtual

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Member Function Documentation

ElementId addElement ( const Element & element )

virtual

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 in BulletModel.

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virtual void ClearCachedResults ( bool use_margins )

pure virtual

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.

Implemented in BulletModel.

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

pure virtual

Compute the points of closest approach between all eligible pairs of collision elements drawn from a specified set of elements.

Parameters

	ids_to_check	the vector of ElementId for which the all-to-all collision detection should be performed
	use_margins	flag indicating whether or not to use the version of this model with collision margins
[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

Implemented in BulletModel.

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

pure virtual

Compute the points of closest approach between specified pairs of collision elements.

Parameters

	id_pairs	vector of ElementIdPair specifying which pairs of elements to consider
	use_margins	flag indicating whether or not to use the version of this model with collision margins
[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

Implemented in BulletModel.

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

pure virtual

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.

Implemented in BulletModel.

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

pure virtual

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.

Implemented in BulletModel.

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

pure virtual

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

Implemented in BulletModel.

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

pure virtual

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

Implemented in BulletModel.

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

pure virtual

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.

Implemented in BulletModel.

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

virtual

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

pure virtual

Compute 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.

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

Implemented in BulletModel.

const Element * readElement ( ElementId id ) const

virtual

Get a read-only pointer to a collision element in this model.

Parameters

id	an ElementId corresponding to the desired collision element

Returns: a read-only pointer to the collision element corresponding to the given id or nullptr if no such collision element is present in the model.

bool removeElement ( const ElementId & id )

bool transformCollisionFrame	(	const DrakeCollision::ElementId &	eid,
		const Eigen::Isometry3d &	transform_body_to_joint
	)

virtual

Modifies a collision element's local transform to be relative to a joint's frame rather than a link's frame.

This is necessary because Drake requires that link frames by defined by their parent joint frames.

Parameters

eid	The ID of the collision element to update.
transform_body_to_joint	The transform from the collision element's link's frame to the joint's coordinate frame.
true	if the collision element was successfully updated.

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

virtual

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 in BulletModel.

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virtual void updateModel ( )

pure virtual

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

Implemented in BulletModel.

Friends And Related Function Documentation

DRAKECOLLISION_EXPORT std::ostream& operator<<	(	std::ostream &	os,
		const Model &	model
	)

friend

A toString method for this class.

Member Data Documentation

std::unordered_map<ElementId, std::unique_ptr<Element> > elements

protected

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

drake/systems/plants/collision/Model.h
drake/systems/plants/collision/Model.cpp

Public Member Functions

Protected Attributes

Friends

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation