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Hi All,
I have to simulate a planning environment where objects whose poses are randomly determined are added.
It is obvious to check if the just-added object is in collision with the robot, as in here.
How to check if it is in collision with the other existing objects?
Thanks a lot.
you need this method:
bool isObjectInCollision(const std::string& object_name);
it's a public method of planning_environment::CollisionModels.
besides, if you want to know exactly which objects are in collision with the target object, use this method:
void getAllEnvironmentCollisionsForObject(const std::string& object_name,
std::vector<arm_navigation_msgs::ContactInformation>& contacts,
unsigned int num_per_pair = 1);
i don't agree with you. getAllEnvironmentCollisionsForObject() will return all the collisions for the specified object, no matter it is a robot link, or another object. you can check the src of this method.
Well, to call isObjectInCollision(), we need an instance of CollisionModel whose constructor needs a robot description. Therefore, even if we have the object cm from rbt_desc, cm.isObjectInCollision("obj") will tell whether "obj" is in collision with the rbt_desc's robot. CMIIW.
well, i have not test the function isObjectInCollision(), but i do test the function getAllEnvironmentCollisionsForObject() and it does work. and of course, you need an instance of CollisionModel.
Asked: 2012-09-13 22:53:14 -0600
Seen: 283 times
Last updated: Nov 01 '12
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