|
Drake
|
|
Drake
|
A concrete collision checker implementation that throws an exception for every virtual function hook.
This might be useful for unit testing or for deriving your own collision checker without providing for the full suite of operations.
#include <drake/planning/unimplemented_collision_checker.h>
Public Member Functions | |
| UnimplementedCollisionChecker (CollisionCheckerParams params, bool supports_parallel_checking) | |
| Constructs a checker. More... | |
| ~UnimplementedCollisionChecker () | |
Does not allow copy, move, or assignment. | |
| UnimplementedCollisionChecker (UnimplementedCollisionChecker &&)=delete | |
| UnimplementedCollisionChecker & | operator= (const UnimplementedCollisionChecker &)=delete |
| UnimplementedCollisionChecker & | operator= (UnimplementedCollisionChecker &&)=delete |
 Public Member Functions inherited from CollisionChecker | |
| virtual | ~CollisionChecker () |
| std::unique_ptr< CollisionChecker > | Clone () const |
| bool | SupportsParallelChecking () const |
| Does the collision checker support true parallel collision checks? More... | |
| CollisionChecker (CollisionChecker &&)=delete | |
| CollisionChecker & | operator= (const CollisionChecker &)=delete |
| CollisionChecker & | operator= (CollisionChecker &&)=delete |
| const RobotDiagram< double > & | model () const |
| const multibody::MultibodyPlant< double > & | plant () const |
| const multibody::RigidBody< double > & | get_body (multibody::BodyIndex body_index) const |
| const std::vector< multibody::ModelInstanceIndex > & | robot_model_instances () const |
| Gets the set of model instances belonging to the robot. More... | |
| bool | IsPartOfRobot (const multibody::RigidBody< double > &body) const |
| bool | IsPartOfRobot (multibody::BodyIndex body_index) const |
| const Eigen::VectorXd & | GetZeroConfiguration () const |
| int | num_allocated_contexts () const |
| const CollisionCheckerContext & | model_context (std::optional< int > context_number=std::nullopt) const |
| Accesses a collision checking context from within the implicit context pool owned by this collision checker. More... | |
| const systems::Context< double > & | plant_context (std::optional< int > context_number=std::nullopt) const |
| Accesses a multibody plant sub-context context from within the implicit context pool owned by this collision checker. More... | |
| const systems::Context< double > & | UpdatePositions (const Eigen::VectorXd &q, std::optional< int > context_number=std::nullopt) const |
Updates the generalized positions q in the implicit context specified and returns a reference to the MultibodyPlant's now-updated context. More... | |
| const systems::Context< double > & | UpdateContextPositions (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const |
| Explicit Context-based version of UpdatePositions(). More... | |
| std::shared_ptr< CollisionCheckerContext > | MakeStandaloneModelContext () const |
| Make and track a CollisionCheckerContext. More... | |
| void | PerformOperationAgainstAllModelContexts (const std::function< void(const RobotDiagram< double > &, CollisionCheckerContext *)> &operation) |
| Allows externally-provided operations that must be performed against all contexts in the per-thread context pool, and any standalone contexts made with MakeStandaloneModelContext(). More... | |
| bool | AddCollisionShape (const std::string &group_name, const BodyShapeDescription &description) |
Requests the addition of a shape to a body, both given in description. More... | |
| int | AddCollisionShapes (const std::string &group_name, const std::vector< BodyShapeDescription > &descriptions) |
Requests the addition of N shapes to N bodies, each given in the set of descriptions. More... | |
| std::map< std::string, int > | AddCollisionShapes (const std::map< std::string, std::vector< BodyShapeDescription >> &geometry_groups) |
| Requests the addition of a collection of shapes to bodies across multiple geometry groups. More... | |
| bool | AddCollisionShapeToFrame (const std::string &group_name, const multibody::Frame< double > &frameA, const geometry::Shape &shape, const math::RigidTransform< double > &X_AG) |
Requests the addition of shape to the frame A in the checker's model. More... | |
| bool | AddCollisionShapeToBody (const std::string &group_name, const multibody::RigidBody< double > &bodyA, const geometry::Shape &shape, const math::RigidTransform< double > &X_AG) |
Requests the addition of shape to the body A in the checker's model The added shape will belong to the named geometry group. More... | |
| std::map< std::string, std::vector< BodyShapeDescription > > | GetAllAddedCollisionShapes () const |
| Gets all checker geometries currently added across the whole checker. More... | |
| void | RemoveAllAddedCollisionShapes (const std::string &group_name) |
| Removes all added checker geometries which belong to the named group. More... | |
| void | RemoveAllAddedCollisionShapes () |
| Removes all added checker geometries from all geometry groups. More... | |
| std::optional< double > | MaybeGetUniformRobotEnvironmentPadding () const |
| If the padding between all robot bodies and environment bodies is the same, returns the common padding value. More... | |
| std::optional< double > | MaybeGetUniformRobotRobotPadding () const |
| If the padding between all pairs of robot bodies is the same, returns the common padding value. More... | |
| double | GetPaddingBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index) const |
| Gets the padding value for the pair of bodies specified. More... | |
| double | GetPaddingBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB) const |
| Overload that uses body references. More... | |
| void | SetPaddingBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index, double padding) |
| Sets the padding value for the pair of bodies specified. More... | |
| void | SetPaddingBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB, double padding) |
| Overload that uses body references. More... | |
| const Eigen::MatrixXd & | GetPaddingMatrix () const |
| Gets the collision padding matrix. More... | |
| void | SetPaddingMatrix (const Eigen::MatrixXd &collision_padding) |
| Sets the collision padding matrix. More... | |
| double | GetLargestPadding () const |
| Gets the current largest collision padding across all (robot, *) body pairs. More... | |
| void | SetPaddingOneRobotBodyAllEnvironmentPairs (multibody::BodyIndex body_index, double padding) |
| Sets the environment collision padding for the provided robot body with respect to all environment bodies. More... | |
| void | SetPaddingAllRobotEnvironmentPairs (double padding) |
| Sets the padding for all (robot, environment) pairs. More... | |
| void | SetPaddingAllRobotRobotPairs (double padding) |
| Sets the padding for all (robot, robot) pairs. More... | |
| const Eigen::MatrixXi & | GetNominalFilteredCollisionMatrix () const |
| Returns the "nominal" collision filter matrix. More... | |
| const Eigen::MatrixXi & | GetFilteredCollisionMatrix () const |
| Gets the "active" collision filter matrix. More... | |
| void | SetCollisionFilterMatrix (const Eigen::MatrixXi &filter_matrix) |
| Sets the "active" collision filter matrix. More... | |
| bool | IsCollisionFilteredBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index) const |
| Checks if collision is filtered between the two bodies specified. More... | |
| bool | IsCollisionFilteredBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB) const |
| Overload that uses body references. More... | |
| void | SetCollisionFilteredBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index, bool filter_collision) |
Declares the body pair (bodyA, bodyB) to be filtered (or not) based on filter_collision. More... | |
| void | SetCollisionFilteredBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB, bool filter_collision) |
| Overload that uses body references. More... | |
| void | SetCollisionFilteredWithAllBodies (multibody::BodyIndex body_index) |
| Declares that body pair (B, O) is filtered (for all bodies O in this checker's plant). More... | |
| void | SetCollisionFilteredWithAllBodies (const multibody::RigidBody< double > &body) |
| Overload that uses body references. More... | |
| bool | CheckConfigCollisionFree (const Eigen::VectorXd &q, std::optional< int > context_number=std::nullopt) const |
| Checks a single configuration for collision using the current thread's associated context. More... | |
| bool | CheckContextConfigCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const |
| Explicit Context-based version of CheckConfigCollisionFree(). More... | |
| std::vector< uint8_t > | CheckConfigsCollisionFree (const std::vector< Eigen::VectorXd > &configs, Parallelism parallelize=Parallelism::Max()) const |
Checks a vector of configurations for collision, evaluating in parallel when supported and enabled by parallelize. More... | |
| void | SetDistanceAndInterpolationProvider (std::shared_ptr< const DistanceAndInterpolationProvider > provider) |
| Sets the distance and interpolation provider to use. More... | |
| const DistanceAndInterpolationProvider & | distance_and_interpolation_provider () const |
| Gets the DistanceAndInterpolationProvider in use. More... | |
| void | SetConfigurationDistanceFunction (const ConfigurationDistanceFunction &distance_function) |
Sets the configuration distance function to distance_function. More... | |
| double | ComputeConfigurationDistance (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2) const |
Computes configuration-space distance between the provided configurations q1 and q2, using the distance function configured at construction- time or via SetConfigurationDistanceFunction(). More... | |
| ConfigurationDistanceFunction | MakeStandaloneConfigurationDistanceFunction () const |
| void | SetConfigurationInterpolationFunction (const ConfigurationInterpolationFunction &interpolation_function) |
Sets the configuration interpolation function to interpolation_function. More... | |
| Eigen::VectorXd | InterpolateBetweenConfigurations (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, double ratio) const |
Interpolates between provided configurations q1 and q2. More... | |
| ConfigurationInterpolationFunction | MakeStandaloneConfigurationInterpolationFunction () const |
| double | edge_step_size () const |
| Gets the current edge step size. More... | |
| void | set_edge_step_size (double edge_step_size) |
Sets the edge step size to edge_step_size. More... | |
| bool | CheckEdgeCollisionFree (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, std::optional< int > context_number=std::nullopt) const |
| Checks a single configuration-to-configuration edge for collision, using the current thread's associated context. More... | |
| bool | CheckContextEdgeCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2) const |
| Explicit Context-based version of CheckEdgeCollisionFree(). More... | |
| bool | CheckEdgeCollisionFreeParallel (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, Parallelism parallelize=Parallelism::Max()) const |
| Checks a single configuration-to-configuration edge for collision. More... | |
| std::vector< uint8_t > | CheckEdgesCollisionFree (const std::vector< std::pair< Eigen::VectorXd, Eigen::VectorXd >> &edges, Parallelism parallelize=Parallelism::Max()) const |
| Checks multiple configuration-to-configuration edges for collision. More... | |
| EdgeMeasure | MeasureEdgeCollisionFree (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, std::optional< int > context_number=std::nullopt) const |
| Checks a single configuration-to-configuration edge for collision, using the current thread's associated context. More... | |
| EdgeMeasure | MeasureContextEdgeCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2) const |
| Explicit Context-based version of MeasureEdgeCollisionFree(). More... | |
| EdgeMeasure | MeasureEdgeCollisionFreeParallel (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, Parallelism parallelize=Parallelism::Max()) const |
| Checks a single configuration-to-configuration edge for collision. More... | |
| std::vector< EdgeMeasure > | MeasureEdgesCollisionFree (const std::vector< std::pair< Eigen::VectorXd, Eigen::VectorXd >> &edges, Parallelism parallelize=Parallelism::Max()) const |
| Checks multiple configuration-to-configuration edge for collision. More... | |
| RobotClearance | CalcRobotClearance (const Eigen::VectorXd &q, double influence_distance, std::optional< int > context_number=std::nullopt) const |
Calculates the distance, ϕ, and distance Jacobian, Jqᵣ_ϕ, for each potential collision whose distance is less than influence_distance, using the current thread's associated context. More... | |
| RobotClearance | CalcContextRobotClearance (CollisionCheckerContext *model_context, const Eigen::VectorXd &q, double influence_distance) const |
| Explicit Context-based version of CalcRobotClearance(). More... | |
| int | MaxNumDistances (std::optional< int > context_number=std::nullopt) const |
| Returns an upper bound on the number of distances returned by CalcRobotClearance(), using the current thread's associated context. More... | |
| int | MaxContextNumDistances (const CollisionCheckerContext &model_context) const |
| Explicit Context-based version of MaxNumDistances(). More... | |
| std::vector< RobotCollisionType > | ClassifyBodyCollisions (const Eigen::VectorXd &q, std::optional< int > context_number=std::nullopt) const |
Classifies which robot bodies are in collision (and which type of collision) for the provided configuration q, using the current thread's associated context. More... | |
| std::vector< RobotCollisionType > | ClassifyContextBodyCollisions (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const |
| Explicit Context-based version of ClassifyBodyCollisions(). More... | |
Protected Member Functions | |
| UnimplementedCollisionChecker (const UnimplementedCollisionChecker &) | |
| std::unique_ptr< CollisionChecker > | DoClone () const override |
| Derived collision checkers implement can make use of the protected copy constructor to implement DoClone(). More... | |
| void | DoUpdateContextPositions (CollisionCheckerContext *model_context) const override |
| Derived collision checkers can do further work in this function in response to updates to the MultibodyPlant positions. More... | |
| bool | DoCheckContextConfigCollisionFree (const CollisionCheckerContext &) const override |
| Derived collision checkers are responsible for reporting the collision status of the configuration. More... | |
| std::optional< geometry::GeometryId > | DoAddCollisionShapeToBody (const std::string &group_name, const multibody::RigidBody< double > &bodyA, const geometry::Shape &shape, const math::RigidTransform< double > &X_AG) override |
| Does the work of adding a shape to be rigidly affixed to the body. More... | |
| void | RemoveAddedGeometries (const std::vector< CollisionChecker::AddedShape > &shapes) override |
| Removes all of the given added shapes (if they exist) from the checker. More... | |
| void | UpdateCollisionFilters () override |
| Derived collision checkers can do further work in this function in response to changes in collision filters. More... | |
| RobotClearance | DoCalcContextRobotClearance (const CollisionCheckerContext &, double) const override |
| Derived collision checkers are responsible for defining the reported measurements. More... | |
| std::vector< RobotCollisionType > | DoClassifyContextBodyCollisions (const CollisionCheckerContext &) const override |
| Derived collision checkers are responsible for choosing a collision type for each of the robot bodies. More... | |
| int | DoMaxContextNumDistances (const CollisionCheckerContext &) const override |
| Derived collision checkers must implement the semantics documented for MaxNumDistances. More... | |
| Protected Member Functions inherited from CollisionChecker | |
| CollisionChecker (CollisionCheckerParams params, bool supports_parallel_checking) | |
| Derived classes declare upon construction whether they support parallel checking (see SupportsParallelChecking()). More... | |
| CollisionChecker (const CollisionChecker &) | |
| To support Clone(), allow copying (but not move nor assign). More... | |
| void | AllocateContexts () |
| Allocate the per-thread context pool, and discontinue mutable access to the robot model. More... | |
| virtual std::unique_ptr< CollisionCheckerContext > | CreatePrototypeContext () const |
| Collision checkers that use derived context types can override this implementation to allocate their context type instead. More... | |
| bool | IsInitialSetup () const |
| RobotDiagram< double > & | GetMutableSetupModel () |
| bool | CanEvaluateInParallel () const |
| std::string | CriticizePaddingMatrix () const |
| UnimplementedCollisionChecker | ( | CollisionCheckerParams | params, |
| bool | supports_parallel_checking | ||
| ) |
Constructs a checker.
| supports_parallel_checking | will serve as the return value of the CollisionChecker::SupportsParallelChecking() function. |
|
delete |
|
protected |
|
overrideprotectedvirtual |
Does the work of adding a shape to be rigidly affixed to the body.
Derived checkers can choose to ignore the request, but must return nullopt if they do so.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers are responsible for defining the reported measurements.
But they must adhere to the characteristics documented on RobotClearance, e.g., one measurement per row. CollisionChecker guarantees that influence_distance is finite and non-negative.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers are responsible for reporting the collision status of the configuration.
CollisionChecker guarantees that the passed model_context has been updated with the configuration q supplied to the public method.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers are responsible for choosing a collision type for each of the robot bodies.
They should adhere to the semantics documented for ClassifyBodyCollisions. CollisionChecker guarantees that the passed model_context has been updated with the configuration q supplied to the public method.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers implement can make use of the protected copy constructor to implement DoClone().
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers must implement the semantics documented for MaxNumDistances.
CollisionChecker does nothing; it just calls this method.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers can do further work in this function in response to updates to the MultibodyPlant positions.
CollisionChecker guarantees that model_context will not be nullptr and that the new positions are present in model_context->plant_context().
Implements CollisionChecker.
|
delete |
|
delete |
|
overrideprotectedvirtual |
Removes all of the given added shapes (if they exist) from the checker.
Implements CollisionChecker.
|
overrideprotectedvirtual |
Derived collision checkers can do further work in this function in response to changes in collision filters.
This is called after any changes are made to the collision filter matrix.
Implements CollisionChecker.