Detailed Description

Base class for collision checkers using a sphere-geometry robot model.

Derived classes must implement distance and gradient checks against environment geometry. Note: this class is designed such that derived classes can support copy/move/assignment.

#include <drake/planning/experimental/sphere_robot_model_collision_checker.h>

Public Member Functions
void	UpdateBodyCollisionModel (multibody::BodyIndex body_index, const std::vector< SphereSpecification > &spheres, bool append)
	Update the sphere collision model of a specific body of the robot.
const std::vector< BodySpheres > &	RobotCollisionModel () const
	Get a reference to the internal collision model of the robot.
std::string	GetURDFCollisionGeometriesForRobotCollisionModel () const
	Generates the URDF <collision> elements corresponding to the robot's collision model.
bool	CheckSelfCollisionFree (const std::vector< Eigen::Isometry3d > &X_WB_set) const
	Check if the robot is in self-collision.
std::vector< Eigen::Isometry3d >	ComputeBodyPoses (const Eigen::VectorXd &q, std::optional< int > context_number=std::nullopt) const
	Compute pose of all bodies, using the current thread's context.
std::vector< Eigen::Isometry3d >	GetBodyPoses (const systems::Context< double > &plant_context) const
	Get pose of all bodies.
std::vector< BodySpheres >	ComputeSphereLocationsInWorldFrame (const std::vector< Eigen::Isometry3d > &X_WB_set) const
	Compute sphere collision model in world frame.
std::vector< BodySpheres >	ComputeSphereLocationsInWorldFrame (const Eigen::VectorXd &q, std::optional< int > context_number=std::nullopt) const
	Compute sphere collision model in world frame, using the current thread's context.
const std::unordered_set< geometry::GeometryId > &	RobotGeometries () const
virtual PointSignedDistanceAndGradientResult	ComputePointToEnvironmentSignedDistanceAndGradient (const systems::Context< double > &context, const geometry::QueryObject< double > &query_object, const Eigen::Vector4d &p_WQ, double query_radius, const std::vector< Eigen::Isometry3d > &X_WB_set, const std::vector< Eigen::Isometry3d > &X_WB_inverse_set) const =0
	Query the (distance, gradient) of the provided point from obstacles.
virtual PointSignedDistanceAndGradientResult	ComputePointToEnvironmentSignedDistance (const systems::Context< double > &context, const geometry::QueryObject< double > &query_object, const Eigen::Vector4d &p_WQ, double query_radius, const std::vector< Eigen::Isometry3d > &X_WB_set, const std::vector< Eigen::Isometry3d > &X_WB_inverse_set) const
	Query the distance of the provided point from obstacles.
PointSignedDistanceAndGradientResult	ComputeSelfCollisionSignedDistanceAndGradient (const std::vector< BodySpheres > &spheres_in_world_frame, multibody::BodyIndex query_body_index, geometry::GeometryId query_sphere_id, double influence_distance) const
Does not allow copy, move, or assignment.
void	operator= (const SphereRobotModelCollisionChecker &)=delete
Public Member Functions inherited from CollisionChecker
	CollisionChecker (CollisionChecker &&)=delete
CollisionChecker &	operator= (const CollisionChecker &)=delete
CollisionChecker &	operator= (CollisionChecker &&)=delete
virtual	~CollisionChecker ()
std::unique_ptr< CollisionChecker >	Clone () const
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.
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.
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.
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.
const systems::Context< double > &	UpdateContextPositions (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const
	Explicit Context-based version of UpdatePositions().
std::shared_ptr< CollisionCheckerContext >	MakeStandaloneModelContext () const
	Make and track a CollisionCheckerContext.
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().
bool	AddCollisionShape (const std::string &group_name, const BodyShapeDescription &description)
	Requests the addition of a shape to a body, both given in description.
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.
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.
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.
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.
std::map< std::string, std::vector< BodyShapeDescription > >	GetAllAddedCollisionShapes () const
	Gets all checker geometries currently added across the whole checker.
void	RemoveAllAddedCollisionShapes (const std::string &group_name)
	Removes all added checker geometries which belong to the named group.
void	RemoveAllAddedCollisionShapes ()
	Removes all added checker geometries from all geometry groups.
std::optional< double >	MaybeGetUniformRobotEnvironmentPadding () const
	If the padding between all robot bodies and environment bodies is the same, returns the common padding value.
std::optional< double >	MaybeGetUniformRobotRobotPadding () const
	If the padding between all pairs of robot bodies is the same, returns the common padding value.
double	GetPaddingBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index) const
	Gets the padding value for the pair of bodies specified.
double	GetPaddingBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB) const
	Overload that uses body references.
void	SetPaddingBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index, double padding)
	Sets the padding value for the pair of bodies specified.
void	SetPaddingBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB, double padding)
	Overload that uses body references.
const Eigen::MatrixXd &	GetPaddingMatrix () const
	Gets the collision padding matrix.
void	SetPaddingMatrix (const Eigen::MatrixXd &collision_padding)
	Sets the collision padding matrix.
double	GetLargestPadding () const
	Gets the current largest collision padding across all (robot, *) body pairs.
void	SetPaddingOneRobotBodyAllEnvironmentPairs (multibody::BodyIndex body_index, double padding)
	Sets the environment collision padding for the provided robot body with respect to all environment bodies.
void	SetPaddingAllRobotEnvironmentPairs (double padding)
	Sets the padding for all (robot, environment) pairs.
void	SetPaddingAllRobotRobotPairs (double padding)
	Sets the padding for all (robot, robot) pairs.
const Eigen::MatrixXi &	GetNominalFilteredCollisionMatrix () const
	Returns the "nominal" collision filter matrix.
const Eigen::MatrixXi &	GetFilteredCollisionMatrix () const
	Gets the "active" collision filter matrix.
void	SetCollisionFilterMatrix (const Eigen::MatrixXi &filter_matrix)
	Sets the "active" collision filter matrix.
bool	IsCollisionFilteredBetween (multibody::BodyIndex bodyA_index, multibody::BodyIndex bodyB_index) const
	Checks if collision is filtered between the two bodies specified.
bool	IsCollisionFilteredBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB) const
	Overload that uses body references.
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.
void	SetCollisionFilteredBetween (const multibody::RigidBody< double > &bodyA, const multibody::RigidBody< double > &bodyB, bool filter_collision)
	Overload that uses body references.
void	SetCollisionFilteredWithAllBodies (multibody::BodyIndex body_index)
	Declares that body pair (B, O) is filtered (for all bodies O in this checker's plant).
void	SetCollisionFilteredWithAllBodies (const multibody::RigidBody< double > &body)
	Overload that uses body references.
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.
bool	CheckContextConfigCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const
	Explicit Context-based version of CheckConfigCollisionFree().
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.
void	SetDistanceAndInterpolationProvider (std::shared_ptr< const DistanceAndInterpolationProvider > provider)
	Sets the distance and interpolation provider to use.
const DistanceAndInterpolationProvider &	distance_and_interpolation_provider () const
	Gets the DistanceAndInterpolationProvider in use.
void	SetConfigurationDistanceFunction (const ConfigurationDistanceFunction &distance_function)
	Sets the configuration distance function to distance_function.
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().
ConfigurationDistanceFunction	MakeStandaloneConfigurationDistanceFunction () const
void	SetConfigurationInterpolationFunction (const ConfigurationInterpolationFunction &interpolation_function)
	Sets the configuration interpolation function to interpolation_function.
Eigen::VectorXd	InterpolateBetweenConfigurations (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, double ratio) const
	Interpolates between provided configurations q1 and q2.
ConfigurationInterpolationFunction	MakeStandaloneConfigurationInterpolationFunction () const
double	edge_step_size () const
	Gets the current edge step size.
void	set_edge_step_size (double edge_step_size)
	Sets the edge step size to edge_step_size.
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.
bool	CheckContextEdgeCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2) const
	Explicit Context-based version of CheckEdgeCollisionFree().
bool	CheckEdgeCollisionFreeParallel (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, Parallelism parallelize=Parallelism::Max()) const
	Checks a single configuration-to-configuration edge for collision.
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.
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.
EdgeMeasure	MeasureContextEdgeCollisionFree (CollisionCheckerContext *model_context, const Eigen::VectorXd &q1, const Eigen::VectorXd &q2) const
	Explicit Context-based version of MeasureEdgeCollisionFree().
EdgeMeasure	MeasureEdgeCollisionFreeParallel (const Eigen::VectorXd &q1, const Eigen::VectorXd &q2, Parallelism parallelize=Parallelism::Max()) const
	Checks a single configuration-to-configuration edge for collision.
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.
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.
RobotClearance	CalcContextRobotClearance (CollisionCheckerContext *model_context, const Eigen::VectorXd &q, double influence_distance) const
	Explicit Context-based version of CalcRobotClearance().
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.
int	MaxContextNumDistances (const CollisionCheckerContext &model_context) const
	Explicit Context-based version of MaxNumDistances().
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.
std::vector< RobotCollisionType >	ClassifyContextBodyCollisions (CollisionCheckerContext *model_context, const Eigen::VectorXd &q) const
	Explicit Context-based version of ClassifyBodyCollisions().
bool	SupportsParallelChecking () const
	Does the collision checker support true parallel collision checks?

Protected Member Functions
	SphereRobotModelCollisionChecker (CollisionCheckerParams params)
	Construct a base collision checker for sphere-geometry robot models.
	SphereRobotModelCollisionChecker (const SphereRobotModelCollisionChecker &)
	To support Clone(), allow copying (but not move nor assign).
virtual std::optional< geometry::GeometryId >	AddEnvironmentCollisionShapeToBody (const std::string &group_name, const multibody::Body< double > &bodyA, const geometry::Shape &shape, const math::RigidTransform< double > &X_AG)=0
virtual void	RemoveAllAddedEnvironment (const std::vector< CollisionChecker::AddedShape > &shapes)=0
virtual std::optional< double >	EstimateConservativePointToEnvironmentSignedDistance (const systems::Context< double > &context, const geometry::QueryObject< double > &query_object, const Eigen::Vector4d &p_WQ, double query_radius, const std::vector< Eigen::Isometry3d > &X_WB_set, const std::vector< Eigen::Isometry3d > &X_WB_inverse_set) const =0
	Query a conservative underestimate of the distance of the provided point from obstacles.
virtual std::unique_ptr< CollisionChecker >	DoClone () const =0
	Derived collision checkers implement can make use of the protected copy constructor to implement DoClone().
virtual 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)=0
	Does the work of adding a shape to be rigidly affixed to the body.
bool	CanEvaluateInParallel () const
std::string	CriticizePaddingMatrix () const
	CollisionChecker (CollisionCheckerParams params, bool supports_parallel_checking)
	Derived classes declare upon construction whether they support parallel checking (see SupportsParallelChecking()).
	CollisionChecker (const CollisionChecker &)
	To support Clone(), allow copying (but not move nor assign).
void	AllocateContexts ()
	Allocate the per-thread context pool, and discontinue mutable access to the robot model.
virtual std::unique_ptr< CollisionCheckerContext >	CreatePrototypeContext () const
	Collision checkers that use derived context types can override this implementation to allocate their context type instead.
bool	IsInitialSetup () const
RobotDiagram< double > &	GetMutableSetupModel ()

Constructor & Destructor Documentation

◆ SphereRobotModelCollisionChecker() [1/2]

SphereRobotModelCollisionChecker ( CollisionCheckerParams params )

explicitprotected

Construct a base collision checker for sphere-geometry robot models.

◆ SphereRobotModelCollisionChecker() [2/2]

SphereRobotModelCollisionChecker ( const SphereRobotModelCollisionChecker & )

explicitprotected

To support Clone(), allow copying (but not move nor assign).

Member Function Documentation

◆ AddEnvironmentCollisionShapeToBody()

virtual std::optional< geometry::GeometryId > AddEnvironmentCollisionShapeToBody	(	const std::string &	group_name,
		const multibody::Body< double > &	bodyA,
		const geometry::Shape &	shape,
		const math::RigidTransform< double > &	X_AG )

protectedpure virtual

◆ CheckSelfCollisionFree()

bool CheckSelfCollisionFree ( const std::vector< Eigen::Isometry3d > & X_WB_set ) const

Check if the robot is in self-collision.

Parameters

X_WB_set Vector of X_WB, pose of robot body B in world W.

Returns: true if self-collision free, false otherwise.

◆ ComputeBodyPoses()

std::vector< Eigen::Isometry3d > ComputeBodyPoses	(	const Eigen::VectorXd &	q,
		std::optional< int >	context_number = std::nullopt ) const

Compute pose of all bodies, using the current thread's context.

Parameters

q	Configuration to compute poses for.

Returns: Vector of X_WB, pose of body B in world W, for all bodies.

◆ ComputePointToEnvironmentSignedDistance()

virtual PointSignedDistanceAndGradientResult ComputePointToEnvironmentSignedDistance	(	const systems::Context< double > &	context,
		const geometry::QueryObject< double > &	query_object,
		const Eigen::Vector4d &	p_WQ,
		double	query_radius,
		const std::vector< Eigen::Isometry3d > &	X_WB_set,
		const std::vector< Eigen::Isometry3d > &	X_WB_inverse_set ) const

virtual

Query the distance of the provided point from obstacles.

Parameters

context	Context of the MbP model.
query_object	Query object for context.
p_WQ	Query position in world frame W.
query_radius	Gradients do not need to be computed for queries with distance > query_radius. This parameter is needed because the default implementation calls ComputePointSignedDistanceAndGradient, and only needing to check within a bound can improve performance.
X_WB_set	Poses X_WB for all bodies in the model. This is used to move gradients from signed distance fields back to world frame.
X_WB_inverse_set	Poses X_BW for all bodies in the model. This is useful for some implementations to move the provided p_WQ into a different body frame.

Returns: signed distances where signed distance is positive if p_WQ is outside of objects, and negative if it is inside. The default implementation here is always sufficient, but in some cases, it may be faster for an implementation to only compute the distance, rather than the distance gradient. Since the binary collision checking methods only need distance, we want them to be as fast as possible. Note that queries farther than query_radius from collision need not return exact distance.

Reimplemented in VoxelizedEnvironmentCollisionChecker.

◆ ComputePointToEnvironmentSignedDistanceAndGradient()

virtual PointSignedDistanceAndGradientResult ComputePointToEnvironmentSignedDistanceAndGradient	(	const systems::Context< double > &	context,
		const geometry::QueryObject< double > &	query_object,
		const Eigen::Vector4d &	p_WQ,
		double	query_radius,
		const std::vector< Eigen::Isometry3d > &	X_WB_set,
		const std::vector< Eigen::Isometry3d > &	X_WB_inverse_set ) const

pure virtual

Query the (distance, gradient) of the provided point from obstacles.

Parameters

context	Context of the MbP model.
query_object	Query object for context.
p_WQ	Query position in world frame W.
query_radius	Gradients do not need to be computed for queries with distance > query radius. This allows for faster performance by reducing the number of gradients to compute as well as reducing the number of gradients this method returns.
X_WB_set	Poses X_WB for all bodies in the model. This is used to move gradients from signed distance fields back to world frame.
X_WB_inverse_set	Poses X_BW for all bodies in the model. This is useful for some implementations to move the provided p_WQ into a different body frame.

Returns: signed distances and gradients where signed distance is positive if p_WQ is outside of objects, and negative if it is inside. The gradient is ∂d/∂p. Note that queries farther than query_radius from collision need not return exact distance.

Implemented in MbpEnvironmentCollisionChecker, and VoxelizedEnvironmentCollisionChecker.

◆ ComputeSelfCollisionSignedDistanceAndGradient()

PointSignedDistanceAndGradientResult ComputeSelfCollisionSignedDistanceAndGradient	(	const std::vector< BodySpheres > &	spheres_in_world_frame,
		multibody::BodyIndex	query_body_index,
		geometry::GeometryId	query_sphere_id,
		double	influence_distance ) const

◆ ComputeSphereLocationsInWorldFrame() [1/2]

std::vector< BodySpheres > ComputeSphereLocationsInWorldFrame	(	const Eigen::VectorXd &	q,
		std::optional< int >	context_number = std::nullopt ) const

Compute sphere collision model in world frame, using the current thread's context.

Parameters

q	Configuration to compute poses for.

Returns: Vector of link sphere models.

◆ ComputeSphereLocationsInWorldFrame() [2/2]

std::vector< BodySpheres > ComputeSphereLocationsInWorldFrame ( const std::vector< Eigen::Isometry3d > & X_WB_set ) const

Compute sphere collision model in world frame.

Parameters

X_WB_set Body poses to use.

Returns: Vector of link sphere models.

◆ EstimateConservativePointToEnvironmentSignedDistance()

virtual std::optional< double > EstimateConservativePointToEnvironmentSignedDistance	(	const systems::Context< double > &	context,
		const geometry::QueryObject< double > &	query_object,
		const Eigen::Vector4d &	p_WQ,
		double	query_radius,
		const std::vector< Eigen::Isometry3d > &	X_WB_set,
		const std::vector< Eigen::Isometry3d > &	X_WB_inverse_set ) const

protectedpure virtual

Query a conservative underestimate of the distance of the provided point from obstacles.

Parameters

context	Context of the MbP model.
query_object	Query object for context.
p_WQ	Query position in world frame W.
query_radius	If no obstacles are within this distance of p_WQ, infinity (or any value greater than query_radius) may be returned to avoid the work of computing a more exact distance.
X_WB_set	Poses X_WB for all bodies in the model. This is used to move gradients from signed distance fields back to world frame.
X_WB_inverse_set	Poses X_BW for all bodies in the model. This is useful for some implementations to move the provided p_WQ into a different body frame.

Returns: a conservative underestimate of the distance between the provided point p_WQ and obstacles. If no such estimate is possible, nullopt must be returned.

◆ GetBodyPoses()

std::vector< Eigen::Isometry3d > GetBodyPoses ( const systems::Context< double > & plant_context ) const

Get pose of all bodies.

Parameters

plant_context MbP context, already updated, to use.

Returns: Vector of X_WB, pose of body B in world W, for all bodies.

◆ GetURDFCollisionGeometriesForRobotCollisionModel()

std::string GetURDFCollisionGeometriesForRobotCollisionModel ( ) const

Generates the URDF <collision> elements corresponding to the robot's collision model.

◆ operator=()

void operator= ( const SphereRobotModelCollisionChecker & )

delete

◆ RemoveAllAddedEnvironment()

virtual void RemoveAllAddedEnvironment ( const std::vector< CollisionChecker::AddedShape > & shapes )

protectedpure virtual

◆ RobotCollisionModel()

const std::vector< BodySpheres > & RobotCollisionModel ( ) const

Get a reference to the internal collision model of the robot.

◆ RobotGeometries()

const std::unordered_set< geometry::GeometryId > & RobotGeometries ( ) const

◆ UpdateBodyCollisionModel()

void UpdateBodyCollisionModel	(	multibody::BodyIndex	body_index,
		const std::vector< SphereSpecification > &	spheres,
		bool	append )

Update the sphere collision model of a specific body of the robot.

Parameters

body_index	Index of the body (body 0 is world).
spheres	Sphere geometry to add to the collision model.
append	If true, appends the spheres to the existing model, otherwise the new model replaces the existing model. Note: changes to the collision model here do not go through the added geometry mechanism.

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

drake/planning/experimental/sphere_robot_model_collision_checker.h

Detailed Description

Public Member Functions

Protected Member Functions

Constructor & Destructor Documentation

◆ SphereRobotModelCollisionChecker() [1/2]

◆ SphereRobotModelCollisionChecker() [2/2]

Member Function Documentation

◆ AddEnvironmentCollisionShapeToBody()

◆ CheckSelfCollisionFree()

◆ ComputeBodyPoses()

◆ ComputePointToEnvironmentSignedDistance()

◆ ComputePointToEnvironmentSignedDistanceAndGradient()

◆ ComputeSelfCollisionSignedDistanceAndGradient()

◆ ComputeSphereLocationsInWorldFrame() [1/2]

◆ ComputeSphereLocationsInWorldFrame() [2/2]

◆ EstimateConservativePointToEnvironmentSignedDistance()

◆ GetBodyPoses()

◆ GetURDFCollisionGeometriesForRobotCollisionModel()

◆ operator=()

◆ RemoveAllAddedEnvironment()

◆ RobotCollisionModel()

◆ RobotGeometries()

◆ UpdateBodyCollisionModel()