A collisions manager that uses Box2D as the underlying collision checking engine. More...

#include <collision.h>

Inheritance diagram for se2ez::Box2DCollisionManager:

Public Member Functions
	Box2DCollisionManager (const RobotPtr &robot)
	Constructor. More...

virtual	~Box2DCollisionManager ()
	Destructor. More...

void	compile () override
	Compiles internal data structures for collision checking. Needs to be called if the robot is updated. More...

	Box2DCollisionManager (const Box2DCollisionManager &)=delete

	Box2DCollisionManager (Box2DCollisionManager &&)=delete

bool	collide (StatePtr &state) override
	Check if a state is in collision. More...

bool	collide (StatePtr &state, std::set< std::string > &frames) override
	Check if a state is in collision. More...

SignedDistance	distance (StatePtr &state) override
	Computes the signed distance of a scene to collision. More...

SignedDistance	distance (StatePtr &state, SignedDistanceMap &frames) override
	Computes the signed distance of a scene to collision. More...

Public Member Functions inherited from se2ez::CollisionManager
	CollisionManager ()
	Constructor. More...

virtual void	setACM (const ACMPtr &acm)
	Sets a new ACM to use. More...

virtual ACMPtr	getACM ()
	Gets the current ACM. More...

Private Types
using	ContactCallback = std::function< bool(const Box2DShape , const Box2DShape , const Box2DContact &)>
	Callback function for checking contacts. Takes in as argument the two fixtures that are a part of the collision, as well as the contact information. Returns true if iteration should continue, false if it should terminate early. More...

using	PotentialCallback = std::function< bool(const Box2DShape , const Box2DShape )>
	Callback function for checking all potential collisions. Takes in as argument the two fixtures that are a part of the collision. Returns true if iteration should continue, false if it should terminate early. More...

Private Member Functions
void	update (StatePtr &state)
	Updates internal world structure based upon robot state. More...

bool	checkContacts (const ContactCallback &callback)
	Check all Box2D contacts in the world, and call a callback function for each. More...

bool	checkPotentials (const PotentialCallback &callback)
	Check all potential collisions in the world, and call a callback function for each. More...

SignedDistance	computeDistance (const Box2DContact &contact) const
	Compute distance from a contact. More...

SignedDistance	computeDistance (const Box2DShape fa, const Box2DShape fb) const
	Compute distances between two Box2DShapes. More...

Private Attributes
const RobotPtr	robot_
	Robot model used for collision checking. More...

Box2DWorldPtr	world_ {nullptr}
	Box2D world model. More...

std::map< std::string, std::vector< Box2DShapePtr > >	shapes_
	Map of frames to Box2D shapes. More...

std::mutex	mutex_
	Mutex for collision checking. More...

Additional Inherited Members
Public Types inherited from se2ez::CollisionManager
using	SignedDistanceMap = tf::EigenMap< std::string, SignedDistance >
	A map of frame names to their signed distances. More...

Protected Attributes inherited from se2ez::CollisionManager
ACMPtr	acm_ {nullptr}
	ACM for collision manager. More...

Detailed Description

A collisions manager that uses Box2D as the underlying collision checking engine.

Definition at line 41 of file collision.h.

Member Typedef Documentation

◆ ContactCallback

using se2ez::Box2DCollisionManager::ContactCallback = std::function<bool(const Box2DShape *, const Box2DShape *, const Box2DContact &)>

private

Callback function for checking contacts. Takes in as argument the two fixtures that are a part of the collision, as well as the contact information. Returns true if iteration should continue, false if it should terminate early.

Definition at line 98 of file collision.h.

◆ PotentialCallback

using se2ez::Box2DCollisionManager::PotentialCallback = std::function<bool(const Box2DShape *, const Box2DShape *)>

private

Callback function for checking all potential collisions. Takes in as argument the two fixtures that are a part of the collision. Returns true if iteration should continue, false if it should terminate early.

Definition at line 110 of file collision.h.

Constructor & Destructor Documentation

◆ Box2DCollisionManager() [1/3]

Box2DCollisionManager::Box2DCollisionManager ( const RobotPtr & robot )

Constructor.

Parameters

[in] robot Robot to construct collision manager for.

Box2D Collision manager

Definition at line 263 of file collision.cpp.

◆ ~Box2DCollisionManager()

Box2DCollisionManager::~Box2DCollisionManager ( )

virtual

Destructor.

Definition at line 268 of file collision.cpp.

◆ Box2DCollisionManager() [2/3]

se2ez::Box2DCollisionManager::Box2DCollisionManager ( const Box2DCollisionManager & )

delete

◆ Box2DCollisionManager() [3/3]

se2ez::Box2DCollisionManager::Box2DCollisionManager ( Box2DCollisionManager && )

delete

Member Function Documentation

◆ checkContacts()

bool Box2DCollisionManager::checkContacts ( const ContactCallback & callback )

private

Check all Box2D contacts in the world, and call a callback function for each.

Parameters

[in] callback Callback function to call for each collision.

Returns: True if checked all without terminating, false if terminated early.

Definition at line 316 of file collision.cpp.

◆ checkPotentials()

bool Box2DCollisionManager::checkPotentials ( const PotentialCallback & callback )

private

Check all potential collisions in the world, and call a callback function for each.

Parameters

[in] callback Callback function to call for each pair.

Returns: True if checked all without terminating, false if terminated early.

Definition at line 337 of file collision.cpp.

◆ collide() [1/2]

bool Box2DCollisionManager::collide ( StatePtr & state )

overridevirtual

Check if a state is in collision.

Parameters

[in] state State to check for collisions using an allowed collision map.

Returns: Returns true if state is in collision, false otherwise.

Implements se2ez::CollisionManager.

Definition at line 371 of file collision.cpp.

◆ collide() [2/2]

bool Box2DCollisionManager::collide	(	StatePtr &	state,
		std::set< std::string > &	frames
	)

overridevirtual

Check if a state is in collision.

Parameters

[in]	state	State to check for collisions using an allowed collision map.
[out]	frames	What frames are in collision.

Returns: Returns true if state is in collision, false otherwise.

Implements se2ez::CollisionManager.

Definition at line 380 of file collision.cpp.

◆ compile()

void Box2DCollisionManager::compile ( )

overridevirtual

Compiles internal data structures for collision checking. Needs to be called if the robot is updated.

Implements se2ez::CollisionManager.

Definition at line 272 of file collision.cpp.

◆ computeDistance() [1/2]

CollisionManager::SignedDistance Box2DCollisionManager::computeDistance ( const Box2DContact & contact ) const

private

Compute distance from a contact.

Parameters

[in] contact Contact.

Returns: distance between shapes in contact.

Definition at line 437 of file collision.cpp.

◆ computeDistance() [2/2]

CollisionManager::SignedDistance Box2DCollisionManager::computeDistance	(	const Box2DShape *	fa,
		const Box2DShape *	fb
	)		const

private

Compute distances between two Box2DShapes.

Parameters

[in]	fa	First shape.
[in]	fb	Second shape.

Returns: distance between shapes.

Definition at line 396 of file collision.cpp.

◆ distance() [1/2]

CollisionManager::SignedDistance Box2DCollisionManager::distance ( StatePtr & state )

overridevirtual

Computes the signed distance of a scene to collision.

Parameters

[in] state State to computed signed distance for.

Returns: Returns signed distance.

Implements se2ez::CollisionManager.

Definition at line 457 of file collision.cpp.

◆ distance() [2/2]

CollisionManager::SignedDistance Box2DCollisionManager::distance	(	StatePtr &	state,
		SignedDistanceMap &	frames
	)

overridevirtual

Computes the signed distance of a scene to collision.

Parameters

[in]	state	State to computed signed distance for.
[out]	frames	Distance of frame to collision.

Returns: Returns signed distance.

Implements se2ez::CollisionManager.

Definition at line 504 of file collision.cpp.

◆ update()

void Box2DCollisionManager::update ( StatePtr & state )

private

Updates internal world structure based upon robot state.

Parameters

[in] state State to update to.

Definition at line 301 of file collision.cpp.

Member Data Documentation

◆ mutex_

std::mutex se2ez::Box2DCollisionManager::mutex_

private

Mutex for collision checking.

Definition at line 134 of file collision.h.

◆ robot_

const RobotPtr se2ez::Box2DCollisionManager::robot_

private

Robot model used for collision checking.

Definition at line 131 of file collision.h.

◆ shapes_

std::map<std::string, std::vector<Box2DShapePtr> > se2ez::Box2DCollisionManager::shapes_

private

Map of frames to Box2D shapes.

Definition at line 133 of file collision.h.

◆ world_

Box2DWorldPtr se2ez::Box2DCollisionManager::world_ {nullptr}

private

Box2D world model.

Definition at line 132 of file collision.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/box2d/collision.h
/home/zak/code/se2ez_work/src/core/box2d/collision.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ContactCallback

◆ PotentialCallback

Constructor & Destructor Documentation

◆ Box2DCollisionManager() [1/3]

◆ ~Box2DCollisionManager()

◆ Box2DCollisionManager() [2/3]

◆ Box2DCollisionManager() [3/3]

Member Function Documentation

◆ checkContacts()

◆ checkPotentials()

◆ collide() [1/2]

◆ collide() [2/2]

◆ compile()

◆ computeDistance() [1/2]

◆ computeDistance() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]

◆ update()

Member Data Documentation

◆ mutex_

◆ robot_

◆ shapes_

◆ world_