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Drake
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Drake
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The CollisionChecker interface provides a basis for performing distance queries on robots in environments for various planning problems (e.g., sampling planning).
Classes | |
| class | BodyShapeDescription |
| BodyShapeDescription captures all the information necessary to describe a SceneGraph collision shape associated with a MultibodyPlant Body: a shape S, the MultibodyPlant body B (identified by model instance and body names), and the rigid pose of the shape S relative to the body B, X_BS. More... | |
| class | CollisionChecker |
| Interface for collision checkers to use. More... | |
| class | CollisionCheckerContext |
This class represents the data necessary for CollisionChecker to operate safely across multiple threads in its const API. More... | |
| struct | CollisionCheckerParams |
| A set of common constructor parameters for a CollisionChecker. More... | |
| class | EdgeMeasure |
| The measure of the distance of the edge from q1 to q2 and the portion of that is collision free. More... | |
| class | RobotClearance |
| A summary of the clearance – a collection of distance measurements – between the robot and everything in the world. More... | |
| class | SceneGraphCollisionChecker |
| An implementation of CollisionChecker that uses SceneGraph to provide collision checks. More... | |
Enumerations | |
| enum | RobotCollisionType : uint8_t { kNoCollision = 0x00, kEnvironmentCollision = 0x01, kSelfCollision = 0x02, kEnvironmentAndSelfCollision = kEnvironmentCollision | kSelfCollision } |
| Enumerates these predicates (and their combinations): More... | |
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