Holds a map describing which collision pairs should be excluded. More...

#include <ecSystemCollisionExclusionMap.h>

Inheritance diagram for EcSystemCollisionExclusionMap:

Collaboration diagram for EcSystemCollisionExclusionMap:

Public Member Functions
	EcSystemCollisionExclusionMap ()
	default constructor

virtual	~EcSystemCollisionExclusionMap ()
	destructor

	EcSystemCollisionExclusionMap (const EcSystemCollisionExclusionMap &orig)
	copy constructor

EcSystemCollisionExclusionMap &	operator= (const EcSystemCollisionExclusionMap &orig)
	assignment operator

EcBoolean	operator== (const EcSystemCollisionExclusionMap &orig) const
	equality operator

virtual EcBoolean	equality (const EcXmlObject *other) const EC_OVERRIDE
	equality - virtual equality to an EcXmlObject pointer

virtual EcXmlObject *	newObject () const EC_OVERRIDE
	virtual new that returns an EcXmlObject

virtual EcBoolean	xmlInit () EC_OVERRIDE
	initialize XML components for reading and writing

virtual EcXmlObject *	clone () const EC_OVERRIDE
	clone - a virtual constructor to an EcXmlObject pointer

virtual void	registerComponents () EC_OVERRIDE
	register components with the parent

virtual const EcXmlU32Set &	excludedManipulators () const
	get the list of manipulators to be excluded from collision calculations

virtual void	setExcludedManipulators (const EcXmlU32Set &value)
	set the list of manipulators to be excluded from collision calculations

virtual const EcXmlU32U32SetMap &	manipulatorExclusionMap () const
	get the map for collision exclusion at manipulator level

virtual void	setManipulatorExclusionMap (const EcXmlU32U32SetMap &value)
	set the map for collision exclusion at manipulator level

virtual const EcXmlManipLinkidU32SetMap &	linkManipulatorExclusionMap () const
	get the map for collision exclusion between links and manipulators

virtual void	setLinkManipulatorExclusionMap (const EcXmlManipLinkidU32SetMap &value)
	set the map for collision exclusion between links and manipulators

virtual const EcXmlManipLinkidManipLinkIdSetMap &	linkExclusionMap () const
	get the map for collision exclusion between links and links

virtual void	setLinkExclusionMap (const EcXmlManipLinkidManipLinkIdSetMap &value)
	set the map for collision exclusion between links and links

virtual EcBoolean	excludeLinkCollisionCandidate (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index, const EcString &link2Id)

virtual EcBoolean	excludeLinkCollisionCandidates (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index)

virtual EcBoolean	excludeManipulatorCollisionCandidates (EcU32 manip1Index, EcU32 manip2Index)

virtual void	excludeManipulatorCollisionCandidates (EcU32 manipIndex)

virtual EcBoolean	removeLinkCollisionExclusionCandidate (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index, const EcString &link2Id)

virtual EcBoolean	removeLinkCollisionExclusionCandidates (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index)

virtual EcBoolean	removeManipulatorCollisionExclusionCandidates (EcU32 manip1Index, EcU32 manip2Index)

virtual EcBoolean	removeManipulatorCollisionExclusionCandidates (EcU32 manipIndex)

virtual EcBoolean	buildMapFromSystem (const EcManipulatorSystem &system)
	build the internal data structure from the system. Must be called after calling excludeXXX() methods and before isLinkCollisionCandidateExcluded()

virtual EcBoolean	trimMap (const EcManipulatorSystem &system)

virtual EcBoolean	isLinkCollisionCandidateExcluded (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index, const EcString &link2Id) const

virtual EcBoolean	isLinkCollisionCandidateExcluded (EcU32 manip1Index, EcU32 link1Index, EcU32 manip2Index, EcU32 link2Index) const

virtual const EcToken &	token () const EC_OVERRIDE
	gets the xml token used for writing out. More...

virtual EcBoolean	read (EcXmlReader &stream) EC_OVERRIDE
	read this object from an XML stream

virtual EcBoolean	write (EcXmlWriter &stream) const EC_OVERRIDE
	write this object to an XML stream

virtual EcBoolean	isManipulatorCollisionExcluded (EcU32 manip1Index, EcU32 manip2Index) const
	query whether or not the collision between two manipulators is excluded.

virtual EcBoolean	isLinktoManipulatorCollisionExcluded (EcU32 manip1Index, const EcString &link1Id, EcU32 manip2Index)
	query whether or not the collision between two manipulators is excluded.

virtual EcBoolean	linkHasExclusionCandidate (EcU32 manip1Index, const EcString &link1Id)
	returns true if the given link has any other collision exclusion mapping set

virtual EcBoolean	manipulatorHasExclusionCandidate (EcU32 manip1Index)
	returns true if the given manipulator has any other collision exclusion mapping set

virtual void	removeAllExclusionCandidates ()
	removes all the exclusion candidates set

virtual void	shiftManipulatorIndices (EcU32 shiftValue)
	shift all the manipulator indices in the map by a given value. Used when merging two systems

virtual EcBoolean	mergeWith (const EcSystemCollisionExclusionMap &other)
	merge operation

virtual void	deleteManipulatorAndShift (EcU32 manipIndex)

virtual EcBoolean	removeManipulator (EcU32 manipIndex)
	remove all the collision exclusions related to a given manipulator index

virtual EcBoolean	dataChanged (const EcSystemCollisionExclusionMap &other) const

Public Member Functions inherited from EcXmlCompoundType
	ECDECLARE_BIGFOUR (EcXmlCompoundType)

virtual EcBoolean	readAttributes (EcXmlReader &stream)
	read object attributes from an XML stream

virtual EcBoolean	readElements (EcXmlReader &stream)
	read object elements from an XML stream

virtual EcBoolean	writeAttributes (EcXmlWriter &stream) const
	write object attributes to an XML stream

virtual EcBoolean	writeElements (EcXmlWriter &stream) const
	write object elements to an XML stream

virtual EcBoolean	writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
	write schema

virtual EcBoolean	writeSchemaAttributes (EcXmlSchema &stream) const
	write schema attributes

virtual EcBoolean	writeSchemaElements (EcXmlSchema &stream) const
	write schema elements

virtual void	registerComponent (const EcToken &token, EcXmlObject *obj)
	register a single component More...

virtual void	registerComponent (EcXmlObject *obj)
	register a single component More...

virtual void	registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
	register a single component as read-only More...

virtual const EcXmlComponentMap &	componentMap () const
	get a reference to the component map

virtual void	registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
	register a single attribute component More...

virtual void	registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
	register a single attribute component read-only More...

virtual const EcXmlComponentMap &	attributeComponentMap ()
	get a reference to the component attribute map

virtual const EcXmlSpecialDescriptorMap &	specialDescriptorMap ()
	get a reference to the special-descriptor map

virtual void	registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
	register an XML token-string descriptor More...

virtual const EcXmlTokenStringDescriptorMapMap &	tokenStringDescriptorMap ()
	get a reference to the XML token-string descriptor map

virtual EcBoolean	hasChildren () const
	return EcTrue if there are children components or EcFalse if an empty element.

virtual EcBoolean	hasAttributes () const
	return EcTrue if there are attributes in the element.

Public Member Functions inherited from EcXmlObject
	ECDECLARE_BIGFOUR (EcXmlObject)

virtual EcBoolean	readAttribute (EcXmlReader &stream)
	read this attribute from an XML stream

virtual EcBoolean	createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
	create schema

virtual EcBoolean	xmlInitialized () const
	get XML initialized flag. This bit is set on initialization.

virtual void	setXmlInitialized (EcBoolean val=EcTrue)
	set XML initialized flag. This bit is set on initialization.

virtual EcBoolean	specified () const
	get specified flag. This bit is set upon reading from an XML file.

virtual void	setSpecified (EcBoolean val=EcTrue)
	set specified flag. This bit is set upon reading from an XML file.

virtual EcBoolean	isBasicType () const
	Return true/false for basic type.

virtual EcBoolean	equalsDefault () const
	tests equality of XML object with default

Static Public Member Functions
static EcSystemCollisionExclusionMap	nullObject ()
	get a null object

Protected Member Functions
virtual EcBoolean	convertToManipulatorLinkIndex (const EcIndividualManipulatorVector &manips, const EcManipulatorLinkIdentifier &manipLinkId, EcManipulatorLinkIndex &manipLinkIndex) const

virtual EcBoolean	obtainManipulatorLinkIndices (const EcIndividualManipulatorVector &manips, EcU32 manipIndex, std::vector< EcManipulatorLinkIndex > &manipLinkIndices) const

virtual void	conditionallyShiftManipulatorIndices (EcU32 manipIndex, EcInt32 shiftValue)
	shift the manipulator indices that are greater or equal to manipIndex by a given value.

Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean	readValueFromToken (const EcToken &token, EcXmlReader &stream)

virtual EcBoolean	readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
	read value from unregistered token

virtual EcBoolean	readAttributeFromToken (const EcToken &token, EcXmlReader &stream)

virtual EcXmlComponentMap *	newComponentMap () const
	allocate a new componentMap

virtual EcXmlSpecialDescriptorMap *	newSpecialDescriptorMap ()
	allocate a new specialDescriptorsMap

virtual EcXmlTokenStringDescriptorMapMap *	newTokenStringDescriptorMap ()
	allocate a new tokenStringDescriptorsMap

virtual void	createComponentMap () const
	create component map

virtual void	createAttributeComponentMap ()
	create attribute component map

virtual void	createSpecialDescriptorMap ()
	create special-descriptors map

virtual void	createTokenStringDescriptorMap ()
	create token-string descriptor map

virtual EcBoolean	isReadOnlyComponent (const EcToken token) const
	check to see if the token corresponds to a read-only component

virtual EcBoolean	isReadOnlyAttribute (const EcToken token) const
	check to see if the token corresponds to a read-only attribute

virtual EcXmlObject *	libraryAttribute ()

Protected Attributes
EcXmlU32Set	m_ExcludedManips
	the list of manipulators to be excluded from collision calculations

EcXmlU32U32SetMap	m_XmlManipExclusionMap
	map for excluding collision between all links of manipulators

EcXmlManipLinkidU32SetMap	m_XmlLinkManipExclusionMap
	map for excluding collision between a link of one manipulator and all links of another

EcXmlManipLinkidManipLinkIdSetMap	m_XmlLinkLinkExclusionMap
	map for excluding collision between two links of two different manipulators

EcXmlU32	m_UpdateCounter

std::map< EcManipulatorLinkIndex, std::set< EcU32 > >	m_LinkManipExclusionMap

std::map< EcManipulatorLinkIndex, std::set< EcManipulatorLinkIndex > >	m_LinkLinkExclusionMap
	map for excluding collision between two links (using indices) of two different manipulators

Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMap *	m_pComponentMap

EcXmlComponentMap *	m_pAttributeComponentMap

EcXmlSpecialDescriptorMap *	m_pSpecialDescriptorMap

EcXmlTokenStringDescriptorMapMap *	m_pComponentMapTokenStringDescriptor

Protected Attributes inherited from EcXmlObject
EcU8	m_State
	the state of the object - eight boolean flags

Additional Inherited Members
Public Types inherited from EcXmlCompoundType
enum	{ READONLYCOMPONENT = 0, READONLYATTRIBUTE }
	special-descriptor codes More...

Static Protected Attributes inherited from EcXmlObject
static const EcU8	m_theXmlInitializedBit
	the bit used to describe xml initialization

static const EcU8	m_theSpecifiedBit
	the bit used to describe specification

Detailed Description

Holds a map describing which collision pairs should be excluded.

Holds a map describing which collision pairs between links of different manipulators should be excluded.

Author: Chalongrath Pholsiri

Definition at line 37 of file ecSystemCollisionExclusionMap.h.

Member Function Documentation

virtual EcBoolean EcSystemCollisionExclusionMap::convertToManipulatorLinkIndex	(	const EcIndividualManipulatorVector &	manips,
		const EcManipulatorLinkIdentifier &	manipLinkId,
		EcManipulatorLinkIndex &	manipLinkIndex
	)		const

protectedvirtual

convert an EcManipulatorLinkIdentifier object to an EcManipulatorLinkIndex object.

Returns: True if successful or false if the manipulator index or link string identifier is invalid.

virtual EcBoolean EcSystemCollisionExclusionMap::dataChanged ( const EcSystemCollisionExclusionMap & other ) const

virtual

an inexpensive way to determine whether the data inside this map compared to the other may have changed by comparing the update counters of the two.

Returns: True if the two counters are not the same value (i.e. either this map or the other map may have changed) or false otherwise. Note that even if it returns true, the internal data between the two is not guaranteed to be different.

virtual void EcSystemCollisionExclusionMap::deleteManipulatorAndShift ( EcU32 manipIndex )

virtual

delete a manipulator: remove all the collision exclusions related to it and shift indices of all the manipulators with index greater than the deleted manipulator. This should be used for deleting a manipulator from the system.

Parameters

[in] manipIndex The index of manipulator to be deleted.

virtual EcBoolean EcSystemCollisionExclusionMap::excludeLinkCollisionCandidate	(	EcU32	manip1Index,
		const EcString &	link1Id,
		EcU32	manip2Index,
		const EcString &	link2Id
	)

virtual

exclude collision between two links of two different manipulators

Parameters

manip1Index	The index of manipulator of link 1
link1Id	The identifier of link 1
manip2Index	The index of manipulator of link 2
link2Id	The identifier of link 2

Returns: False if manip1Index and manip2Index are identical or true otherwise.

virtual EcBoolean EcSystemCollisionExclusionMap::excludeLinkCollisionCandidates	(	EcU32	manip1Index,
		const EcString &	link1Id,
		EcU32	manip2Index
	)

virtual

exclude collisions between a link of one manipulator to all links of another manipulator

Parameters

manip1Index	The index of manipulator of link 1
link1Id	The identifier of link 1
manip2Index	The index of manipulator 2

Returns: False if manip1Index and manip2Index are identical or true otherwise.

virtual EcBoolean EcSystemCollisionExclusionMap::excludeManipulatorCollisionCandidates	(	EcU32	manip1Index,
		EcU32	manip2Index
	)

virtual

exclude collisions among all links of two manipulators

Parameters

manip1Index	The index of manipulator 1
manip2Index	The index of manipulator 2

Returns: False if manip1Index and manip2Index are identical or true otherwise.

virtual void EcSystemCollisionExclusionMap::excludeManipulatorCollisionCandidates ( EcU32 manipIndex )

virtual

exclude collisions of all links of the given manipulator with everything in the system

Parameters

manipIndex The index of manipulator

virtual EcBoolean EcSystemCollisionExclusionMap::isLinkCollisionCandidateExcluded	(	EcU32	manip1Index,
		const EcString &	link1Id,
		EcU32	manip2Index,
		const EcString &	link2Id
	)		const

virtual

query whether or not the collision between two links is excluded by link identifiers.

Parameters

manip1Index	The index of manipulator of link 1
link1Id	The identifier of link 1
manip2Index	The index of manipulator of link 2
link2Id	The identifier of link 2

Returns: True if the collision between the two links is excluded.

virtual EcBoolean EcSystemCollisionExclusionMap::isLinkCollisionCandidateExcluded	(	EcU32	manip1Index,
		EcU32	link1Index,
		EcU32	manip2Index,
		EcU32	link2Index
	)		const

virtual

query whether or not the collision between two links is excluded by indices. Only valid after buildMapFromSystem has been called.

Parameters

manip1Index	The index of manipulator of link 1
link1Index	The index of link 1
manip2Index	The index of manipulator of link 2
link2Index	The index of link 2

Returns: True if the collision between the two links is excluded.

virtual EcBoolean EcSystemCollisionExclusionMap::obtainManipulatorLinkIndices	(	const EcIndividualManipulatorVector &	manips,
		EcU32	manipIndex,
		std::vector< EcManipulatorLinkIndex > &	manipLinkIndices
	)		const

protectedvirtual

given a manipulator index, obtain a vector of EcManipulatorLinkIndex objects representing all the links in that manipulator

Returns: True if successful or false if the manipulator index is invalid

virtual EcBoolean EcSystemCollisionExclusionMap::removeLinkCollisionExclusionCandidate	(	EcU32	manip1Index,
		const EcString &	link1Id,
		EcU32	manip2Index,
		const EcString &	link2Id
	)

virtual

remove collision exclusion between two links of two different manipulators

Parameters

manip1Index	The index of manipulator of link 1
link1Id	The identifier of link 1
manip2Index	The index of manipulator of link 2
link2Id	The identifier of link 2

Returns: False if manip1Index and manip2Index are identical or if the exclusion doesn't exist. Otherwise, true.

virtual EcBoolean EcSystemCollisionExclusionMap::removeLinkCollisionExclusionCandidates	(	EcU32	manip1Index,
		const EcString &	link1Id,
		EcU32	manip2Index
	)

virtual

remove collision exclusions between a link of one manipulator to all links of another manipulator

Parameters

manip1Index	The index of manipulator of link 1
link1Id	The identifier of link 1
manip2Index	The index of manipulator 2

Returns: False if manip1Index and manip2Index are identical or if the exclusion doesn't exist. Otherwise, true.

virtual EcBoolean EcSystemCollisionExclusionMap::removeManipulatorCollisionExclusionCandidates	(	EcU32	manip1Index,
		EcU32	manip2Index
	)

virtual

remove collision exclusions among all links of two manipulators

Parameters

manip1Index	The index of manipulator 1
manip2Index	The index of manipulator 2

Returns: False if manip1Index and manip2Index are identical or if the exclusion doesn't exist. Otherwise, true.

virtual EcBoolean EcSystemCollisionExclusionMap::removeManipulatorCollisionExclusionCandidates ( EcU32 manipIndex )

virtual

remove collision exclusions among all links of the given manipulator with everything in the system

Parameters

manipIndex The index of manipulator

Returns: False if the exclusion doesn't exist. Otherwise, true.

virtual const EcToken& EcSystemCollisionExclusionMap::token ( ) const

virtual

gets the xml token used for writing out.

Implements EcXmlObject.

virtual EcBoolean EcSystemCollisionExclusionMap::trimMap ( const EcManipulatorSystem & system )

virtual

Sometimes, the collision exclusion map becomes cluttered with invalid manipulator indices and/or link labels. This may happen when a map is copied from one system to another. trimMap method will remove invalid entries within this map by checking the manipulators and their links in the given system.