Detailed Description

Headers and definitions of the interface with the collision detection engine.

See Also: cd.c

Definition in file cd.h.

Data Structures
struct	TCollisionInfo
	Information on the detected collisions. More...

struct	TsolidObj
	Information of each object. More...

struct	TsolidCD
	Information associated with the solid collision detection engine. More...

struct	TvcollideCD
	Information associated with the Vcollide collision detection engine. More...

struct	TpqpCD
	Information associated with the PQP collision detection engine. More...

struct	TworldCD
	Auxiliary data for the collision detection. More...

Functions
void	InitCD (unsigned int engine, boolean parallel, Tmechanism m, Tenvironment e, boolean checkCollisionsLL, boolean checkCollisionsLO, TworldCD *cd)
	Initializes the collision detector. More...

boolean	LinkCanCollide (unsigned int l, unsigned int nl, unsigned int no, boolean checkCollisionsLL, boolean checkCollisionsLO)
	Identifies links than can collide. More...

boolean	ObstacleCanCollide (unsigned int o, unsigned int nl, boolean **checkCollisionsLO)
	Identifies obstacles than can collide. More...

unsigned int	GetCDEngine (TworldCD *cd)
	Determines the collision engine. More...

boolean	CheckCollision (boolean all, THTransform tl, TLinkConf def, THTransform tlPrev, TLinkConf defPrev, TworldCD *cd)
	Determines if there is a collision. More...

void	StoreCollisionInfo (FILE f, char fname, unsigned int objectID, Tmechanism m, TworldCD cd)
	Stores the information collected during last collision check into a file. More...

void	PrintCollisionInfo (THTransform tl, Tmechanism m, Tenvironment e, TworldCD cd)
	Prints some information collected during last collision check. More...

void	DeleteCD (TworldCD *cd)
	Collision information destructor. More...

Function Documentation

void InitCD	(	unsigned int	engine,
		boolean	parallel,
		Tmechanism *	m,
		Tenvironment *	e,
		boolean **	checkCollisionsLL,
		boolean **	checkCollisionsLO,
		TworldCD *	cd
	)

Initializes the collision detector.

Parameters

engine	The engine to use
parallel	TRUE if we are in a contex of parallel execution, where different collision queries can be executed in parallel.
m	The machanism.
e	The enviroment.
checkCollisionsLL	Link-link collision to be checked.
checkCollisionsLO	Link-obstacle collision to be checked.
cd	The collision information to define.

Definition at line 2135 of file cd.c.

References BULLET, TworldCD::bullet, C_BULLET, C_FCL, TworldCD::engine, Error(), FCL, TworldCD::fcl, InitPQPCD(), InitSolidCD(), InitVcollideCD(), NEW, NOCD, PQP, TworldCD::pqp, RIGIDCLL, TworldCD::rigidCLL, SOLID, TworldCD::solid, VCOLLIDE, and TworldCD::vcollide.

Referenced by InitWorldCD().

boolean LinkCanCollide	(	unsigned int	l,
		unsigned int	nl,
		unsigned int	no,
		boolean **	checkCollisionsLL,
		boolean **	checkCollisionsLO
	)

Identifies links that can collide either with other links or with obstacles.

Parameters

l	The identifier of the link to check.
nl	Number of links.
no	Number of obstacles.
checkCollisionsLL	Allowed collisions between links.
checkCollisionsLO	Allowed collisions between links and obstacles.

Returns: TRUE if the link collision is activated with respect to any other link or obstacle.

Definition at line 2218 of file cd.c.

References FALSE.

Referenced by AnyCollision(), InitPQPCD(), InitSolidCD(), and InitVcollideCD().

boolean ObstacleCanCollide	(	unsigned int	o,
		unsigned int	nl,
		boolean **	checkCollisionsLO
	)

Identifies obstacles that can collide a given link..

Parameters

o	The identifier of the obstacle to check.
nl	Number of obstacles.
checkCollisionsLO	Allowed collisions between links and obstacles.

Returns: TRUE if the obstacle collision is activated with respect to any link.

Definition at line 2240 of file cd.c.

References FALSE.

Referenced by InitPQPCD(), InitSolidCD(), and InitVcollideCD().

unsigned int GetCDEngine ( TworldCD * cd )

Determines the collision library used.

Parameters

cd	The collision information to query.

Returns: The identifier of the collision detection library in use.

Definition at line 2255 of file cd.c.

References TworldCD::engine.

Referenced by MoveAndCheckCD(), and WorldContinuousCD().

boolean CheckCollision	(	boolean	all,
		THTransform *	tl,
		TLinkConf *	def,
		THTransform *	tlPrev,
		TLinkConf *	defPrev,
		TworldCD *	cd
	)

Determines if there is a collision.

Parameters

all	TRUE if we want to detect all the collision. FALSE just to detect the first one. Right now this flag is only honored when using the Solid or the FCL collision libraries. The rest only detect the first collision and stop irrespectively of the value of this paramater.
tl	The transforms to apply to the links.
def	Deformation parameter. IMPORTANT: Up to now SOLID is the only collision detection engine that uses the deformation.
tlPrev	The transforms to apply to the links in the previous configuration. Only used for the continuous collision checker (C_FCL). The rest of collision detection libraries are discrete and ignore this parameter.
defPrev	Deformation parameter in the previous configuration.
cd	The collision information to use in the check.

Todo:: Implement link deformation in CD engines other than SOLID.

Returns: TRUE if there is a collision.

Definition at line 2260 of file cd.c.

References BULLET, TworldCD::bullet, C_BULLET, C_FCL, CheckCollisionPQP(), CheckCollisionSolid(), CheckCollisionVcollide(), TworldCD::engine, Error(), FALSE, FCL, TworldCD::fcl, NOCD, PQP, TworldCD::pqp, RIGIDCLL, TworldCD::rigidCLL, SOLID, TworldCD::solid, VCOLLIDE, and TworldCD::vcollide.

Referenced by MoveAndCheckCDFromTransforms().

void StoreCollisionInfo	(	FILE *	f,
		char *	fname,
		unsigned int	objectID,
		Tmechanism *	m,
		TworldCD *	cd
	)

Stores information collected during last collision check into a file. This is only used from the cuikmove application, when using the "save" option. The information to be stored is collected during the collision detection and latter compleated in a call to PrintCollisionInfo. In other words, this function can only be used after detecting a collision and after calling PrintCollisionInfo. The cuikmove alrady coordinates these steps: it first uses MoveWorldDOF and if the user press the "Save" button, it then calls this function.

Up to now this only works for the SOLID collision engine.

See StoreCollisionInfoInt for more deatils.

Parameters

f	File where to write the collision script.
fname	File from where we obtained the world information. The last part of the filename (from the last '_' to the end) is assumed to be the name of the object. This name is the one used to call the sub-matlab scripts giving contact points and normals on the object.
objectID	Identifier of the object being manipulated. This is assumed to be a link. Use NO_UINT to print all the information without any filtering.
m	The mechanism description.
cd	The collision information.

Definition at line 2346 of file cd.c.

References BULLET, TworldCD::bullet, TsolidCD::collision, TworldCD::engine, Error(), FCL, TworldCD::fcl, TsolidCD::nc, SOLID, TworldCD::solid, and StoreCollisionInfoInt().

Referenced by PrintWorldCollisionInfo().

void PrintCollisionInfo	(	THTransform *	tl,
		Tmechanism *	m,
		Tenvironment *	e,
		TworldCD *	cd
	)

Prints some information collected during last collision check.

Up to now this only works for the SOLID collision engine.

This is used when obtain contact information while interactively moving the robots.

Parameters

tl	The transforms positioning the links.
m	The mechanism description.
e	The environment description.
cd	The collision information.

Definition at line 2374 of file cd.c.

References BULLET, TworldCD::bullet, TsolidCD::collision, TworldCD::engine, Error(), FCL, TworldCD::fcl, TsolidCD::nc, PrintCollisionInfoInt(), SOLID, and TworldCD::solid.

Referenced by MoveAndCheckCDFromTransforms().

void DeleteCD ( TworldCD * cd )

Releases the structures used for collision detection.

Parameters

cd	The collision detection information to be released.

Definition at line 2403 of file cd.c.

References BULLET, TworldCD::bullet, C_BULLET, C_FCL, DeletePQPCD(), DeleteSolidCD(), DeleteVcollideCD(), TworldCD::engine, Error(), FCL, TworldCD::fcl, NOCD, PQP, TworldCD::pqp, RIGIDCLL, TworldCD::rigidCLL, SOLID, TworldCD::solid, VCOLLIDE, and TworldCD::vcollide.

Referenced by DeleteWorldCD(), and InitWorldCD().

Institut de Robòtica i Informàtica Industrial

Detailed Description

Data Structures

Functions

Function Documentation

Institut de Robòtica
i Informàtica Industrial