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OSCAR::CollisionDetection Class Reference
[ObstacleAvoidance]

Collision Detection Class. More...

#include <CollisionDetection.h>

Inheritance diagram for OSCAR::CollisionDetection:

[legend]List of all members.


Public Types
enum	ResponseType { WITNESSED, DEPTH }
Public Methods
	CollisionDetection (WorkCell *workcell, ResponseType type=WITNESSED, OSCARError &err=DUMMY_ERROR(noError), const String &name=String())
virtual	~CollisionDetection ()
std::vector< CollisionPoint * > &	GetCollisionPoints ()
void	OutputCollisionPoints ()
bool	CheckManipulatorSelfCollisions (String manip)
bool	CheckWorkcellCollisions ()
bool	RemoveWorkcellCollisionPair (Polytope obj1, Polytope obj2)
bool	AddWorkcellCollisionPair (Polytope obj1, Polytope obj2)
bool	RemoveManipulatorCollisionPair (Polytope obj1, Polytope obj2, Node *manip)
bool	AddManipulatorCollisionPair (Polytope obj1, Polytope obj2, Node *manip)
bool	GetDistance (const Polytope &obj1, const Polytope &obj2, Vector3 &obj1Wit, Vector3 &obj2Wit, Vector3 &unitVec, double &dist)
ResponseType	GetResponseType ()
Private Methods
	CollisionDetection (const CollisionDetection &cd)
CollisionDetection &	operator= (const CollisionDetection &cd)
void	AddEnvironmentPolytopes (Node *node)
void	AddManipulatorPolytopes (Node *node)
bool	RemoveManipulatorAttachmentCollisions (Node currentnode, Node previousnode, DT_RespTableHandle resptable)
void	RemoveNodePolytopes (Node *node)
Private Attributes
WorkCell *	cell
std::vector< CollisionPoint * >	collisionpoints
DistanceCalculator	distancecalculator
ResponseType	resptype
DT_SceneHandle	scene
DT_RespTableHandle	globalRespTable
std::vector< std::pair< Node *, DT_RespTableHandle > >	manipRespTables

Detailed Description

Author:: Jonathon Knoll

Member Enumeration Documentation

enum OSCAR::CollisionDetection::ResponseType

Enumeration values:

WITNESSED

DEPTH

Constructor & Destructor Documentation

OSCAR::CollisionDetection::CollisionDetection ( WorkCell * workcell,

ResponseType type = WITNESSED,

OSCARError & err = DUMMY_ERROR(noError),

const String & name = String()

)

Constructor for CollisionDetection.
Constructs an WorkCell object, a container object that holds all of the geometric information for the system.
Parameters:

filename String of the name of the file with obstacle volume and robot volume information

fkBegin beginning of an array of pointers to FKAccelleration objects

fkEnd one past the end of an array of pointers to FKAccelleration objects

err If errors were encountered during object construction, this OSCARError object will contain a description of the error, otherwise it will be 'noError'

name If you wish to name this object, provide an argument.

See also:
~WorkCell()

virtual OSCAR::CollisionDetection::~CollisionDetection ( ) [virtual]

Destructor for CollisionDetection.

See also:
CollisionDetection()

OSCAR::CollisionDetection::CollisionDetection ( const CollisionDetection & cd ) [private]

Copy Constructor This function is declared and not defined to disable copy construction.

Returns:
none

Member Function Documentation

void OSCAR::CollisionDetection::AddEnvironmentPolytopes ( Node * node ) [private]

bool OSCAR::CollisionDetection::AddManipulatorCollisionPair ( Polytope * obj1,

Polytope * obj2,

Node * manip

)

void OSCAR::CollisionDetection::AddManipulatorPolytopes ( Node * node ) [private]

bool OSCAR::CollisionDetection::AddWorkcellCollisionPair ( Polytope * obj1,

Polytope * obj2

)

Method to add the polytope (primitive) pairs between which collisions should be detected. obj1 and obj2 which correspond to the polytopes between which collision detection should be detected.

bool OSCAR::CollisionDetection::CheckManipulatorSelfCollisions ( String manip )

bool OSCAR::CollisionDetection::CheckWorkcellCollisions ( )

Method to check for collisions within the workspace.

Returns:
'True' if collision occures and 'False' if there is no collision.

std::vector<CollisionPoint*>& OSCAR::CollisionDetection::GetCollisionPoints ( ) [inline]

bool OSCAR::CollisionDetection::GetDistance ( const Polytope & obj1,

const Polytope & obj2,

Vector3 & obj1Wit,

Vector3 & obj2Wit,

Vector3 & unitVec,

double & dist

)

ResponseType OSCAR::CollisionDetection::GetResponseType ( ) [inline]

CollisionDetection& OSCAR::CollisionDetection::operator= ( const CollisionDetection & cd ) [private]

Deep Copy operator This function is declared and not defined to disable deep copy (i.e. x = y assignment) of one CollisionDetection object to another.

void OSCAR::CollisionDetection::OutputCollisionPoints ( )

Method to print the names of all the primitives (polytopes) in pairs, between which collisions have been detected.

bool OSCAR::CollisionDetection::RemoveManipulatorAttachmentCollisions ( Node * currentnode,

Node * previousnode,

DT_RespTableHandle resptable

) [private]

bool OSCAR::CollisionDetection::RemoveManipulatorCollisionPair ( Polytope * obj1,

Polytope * obj2,

Node * manip

)

void OSCAR::CollisionDetection::RemoveNodePolytopes ( Node * node ) [private]

bool OSCAR::CollisionDetection::RemoveWorkcellCollisionPair ( Polytope * obj1,

Polytope * obj2

)

Method to remove the polytope (primitive) pairs between which collisions should not be detected. obj1 and obj2 which correspond to the polytopes between which collision detection should be removed.