CollisionChecker can contain collision objects and their groups (such as ShapeGroup and TimeVariantCollisionObject) More...

#include <collision_checker.h>

Inheritance diagram for collision::CollisionChecker:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionChecker ()

CollisionCheckerPtr	clone_shared (void) const

void	addCollisionObject (CollisionObjectConstPtr co)
	Adds a collision object into the CollisionChecker group structure. More...

bool	rayTrace (const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, std::vector< LineSegment > &intersect, bool remove_overlaps=true)
	adds a collision object to the CC More...

int	collisionTime (CollisionObjectConstPtr co) const
	Returns timestep at which any of the objects contained in the CollisionChecker collides with the given object. More...

bool	collide (CollisionObjectConstPtr co, int *collision_time=0) const
	Returns true if any of the objects contained in the CollisionChecker collide with the given object. More...

bool	collide (CollisionObjectConstPtr co, CollisionObjectConstPtr &obstacle, bool ungroup_shape_groups=false, bool ungroup_TV_obstacles=false) const
	Returns true if any of the objects contained in the CollisionChecker collide with the given object. More...

bool	collide (CollisionObjectConstPtr co, std::vector< CollisionObjectConstPtr > &obstacles, bool ungroup_shape_groups=false, bool ungroup_TV_obstacles=false) const
	Returns true if any of the objects contained in the CollisionChecker collide with the given object. More...

CollisionCheckerPtr	windowQuery (const RectangleAABB &aabb) const
	Returns new CollisionChecker with all static objects within the window and all time-variant obstacles. Ungroups all shape groups. More...

PrimitiveCollisionCheckerPtr	windowQueryPrimitive (const RectangleAABB &aabb) const
	Returns new PrimitiveCollisionChecker with all static objects within the window and all time-variant obstacles. Ungroups all shape groups. More...

CollisionCheckerPtr	timeSlice (int time_idx) const
	Returns new CollisionChecker with objects that exist at a given timestep. More...

void	print (std::ostringstream &stream) const

void	toString (std::ostringstream &stream) const

int	numberOfObstacles (void) const
	Returns number of contained CollisionObjects of any type. More...

std::vector< CollisionObjectConstPtr >	getObstacles (void) const
	Returns a Vector with all contained CollisionObjects of any type. More...

Public Member Functions inherited from collision::ICollisionChecker
virtual	~ICollisionChecker ()

Detailed Description

CollisionChecker can contain collision objects and their groups (such as ShapeGroup and TimeVariantCollisionObject)

The benefit of grouping objects in the CollisionChecker is that a broadphase structure is built for efficient filtering of candidate objects for the collision

Definition at line 45 of file collision_checker.h.

Constructor & Destructor Documentation

◆ CollisionChecker()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW collision::CollisionChecker::CollisionChecker ( )

inline

Definition at line 52 of file collision_checker.h.

Member Function Documentation

◆ addCollisionObject()

void collision::CollisionChecker::addCollisionObject ( CollisionObjectConstPtr co )

virtual

Adds a collision object into the CollisionChecker group structure.

Implements collision::ICollisionChecker.

Definition at line 25 of file collision_checker.cc.

◆ clone_shared()

CollisionCheckerPtr collision::CollisionChecker::clone_shared ( void ) const

Definition at line 12 of file collision_checker.cc.

◆ collide() [1/3]

bool collision::CollisionChecker::collide	(	CollisionObjectConstPtr	co,
		int *	collision_time = `0`
	)		const

Returns true if any of the objects contained in the CollisionChecker collide with the given object.

Parameters

[in]	co	given object
[out]	optional	output pointer for getting the time of the collision

Warning: The function is not thread-safe

Definition at line 68 of file collision_checker.cc.

◆ collide() [2/3]

bool collision::CollisionChecker::collide	(	CollisionObjectConstPtr	co,
		CollisionObjectConstPtr &	obstacle,
		bool	ungroup_shape_groups = `false`,
		bool	ungroup_TV_obstacles = `false`
	)		const

Returns true if any of the objects contained in the CollisionChecker collide with the given object.

Parameters

[in]	co	given object
[in]	ungroup_shape_groups	when false, ShapeGroups will be treated as separate objects and included in the result. Otherwise, one of the colliding obstacles within the ShapeGroups will be added to the output Vector.
[in]	ungroup_TV_obstacles	when false, TimeVarintCollisionObjects will be treated as separate objects and included in the result. Otherwise, one of the colliding obstacles within the TimeVarintCollisionObject will be added to the output Vector.
[out]	obstacle	output reference for the colliding object

Warning: The function is not thread-safe

Definition at line 112 of file collision_checker.cc.

◆ collide() [3/3]

bool collision::CollisionChecker::collide	(	CollisionObjectConstPtr	co,
		std::vector< CollisionObjectConstPtr > &	obstacles,
		bool	ungroup_shape_groups = `false`,
		bool	ungroup_TV_obstacles = `false`
	)		const

Returns true if any of the objects contained in the CollisionChecker collide with the given object.

Parameters

[in]	co	given object
[in]	ungroup_shape_groups	when false, ShapeGroups will be treated as separate objects and included in the result. Otherwise, the colliding obstacles within the ShapeGroups will be added to the output Vector.
[in]	ungroup_TV_obstacles	when false, TimeVariantCollisionObjects will be treated as separate objects and included in the result. Otherwise, the colliding obstacles within the TimeVariantCollisionObject will be added to the output Vector.
[out]	obstacles	output Vector for colliding objects

Warning: The function is not thread-safe

Definition at line 235 of file collision_checker.cc.

◆ collisionTime()

int collision::CollisionChecker::collisionTime ( CollisionObjectConstPtr co ) const

Returns timestep at which any of the objects contained in the CollisionChecker collides with the given object.

The function returns -1 if there is no collision or timestep of the collision is not defined (such as for static obstacles)

Warning: The function is not thread-safe

Definition at line 42 of file collision_checker.cc.

◆ getObstacles()

std::vector< CollisionObjectConstPtr > collision::CollisionChecker::getObstacles ( void ) const

virtual

Returns a Vector with all contained CollisionObjects of any type.

Implements collision::ICollisionChecker.

Definition at line 328 of file collision_checker.cc.

◆ numberOfObstacles()

int collision::CollisionChecker::numberOfObstacles ( void ) const

virtual

Returns number of contained CollisionObjects of any type.

Implements collision::ICollisionChecker.

Definition at line 319 of file collision_checker.cc.

◆ print()

void collision::CollisionChecker::print ( std::ostringstream & stream ) const

Definition at line 332 of file collision_checker.cc.

◆ rayTrace()

bool collision::CollisionChecker::rayTrace	(	const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		std::vector< LineSegment > &	intersect,
		bool	remove_overlaps = `true`
	)

adds a collision object to the CC

Performs raytracing for a given line segment. The function returns true if the line segment between the given two points collides with any object inside the CollisionChecker. In addition, the function returns Vector with the parts of the given line segment that belong to the occupied space.

The function finds all intersection points between the given line segment and all line segments or circles that the colliding objects are made of.

If the given line segment start or end point lies within an object, the line segment between this point inside the object and the point of collision is added.

If remove_overlaps is set to true, the function joins together all overlapping intervals for the final result.

Parameters

[in]	point1	line segment begin point
[in]	point2	line segment end point
[in]	remove_overlaps	if true, the the function joins together all overlapping intervals for the final result.

Warning: The function is not thread-safe

Definition at line 159 of file collision_checker.cc.

◆ timeSlice()

CollisionCheckerPtr collision::CollisionChecker::timeSlice ( int time_idx ) const

Returns new CollisionChecker with objects that exist at a given timestep.

Parameters

[in] time_idx - index of timestep of interest

Definition at line 302 of file collision_checker.cc.

◆ toString()

void collision::CollisionChecker::toString ( std::ostringstream & stream ) const

Definition at line 193 of file collision_checker.cc.

◆ windowQuery()

CollisionCheckerPtr collision::CollisionChecker::windowQuery ( const RectangleAABB & aabb ) const

Returns new CollisionChecker with all static objects within the window and all time-variant obstacles. Ungroups all shape groups.

Parameters

[in] aabb - reference to an axis-aligned rectangle representing the region of interest

Warning: The function is not thread-safe

Definition at line 285 of file collision_checker.cc.

◆ windowQueryPrimitive()

PrimitiveCollisionCheckerPtr collision::CollisionChecker::windowQueryPrimitive ( const RectangleAABB & aabb ) const

Returns new PrimitiveCollisionChecker with all static objects within the window and all time-variant obstacles. Ungroups all shape groups.

Parameters

[in] aabb - reference to a axis-aligned rectangle representing the region of interest

Warning: The function is not thread-safe

Definition at line 264 of file collision_checker.cc.

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

include/collision/collision_checker.h
src/collision_checker.cc

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CollisionChecker()

Member Function Documentation

◆ addCollisionObject()

◆ clone_shared()

◆ collide() [1/3]

◆ collide() [2/3]

◆ collide() [3/3]

◆ collisionTime()

◆ getObstacles()

◆ numberOfObstacles()

◆ print()

◆ rayTrace()

◆ timeSlice()

◆ toString()

◆ windowQuery()

◆ windowQueryPrimitive()