Overview

This component checks self collision and stops robot motion.

implementation_id	CollisionDetector
category	example

Collision Pair

This component checks self collision between link pairs. One link pair is like "RARM_JOINT6:WAIST".

Fail Safe

When collision, this component stops robot motion by overwriting reference joint angles, e.g., by modifying qRef and outputting to q.
When collision in qRef is resolved, this component sifts to non-overwrite mode.
Transition from overwrite mode to non-overwrite mode is implemented as min-jerk interplation by default. Transition time is 1.0[s] by default.

In collision, this component makes beep sound. If the cause of errors are removed, error flags and beep sound are removed. Since this RTC is stable RTC, we support both direct beeping from this RTC and beepring through BeeperRTC.

Data Ports

Input Ports

port name	data type	unit	description
qRef	RTC::TimedDoubleSeq	[rad]	Input reference joint angles
qCurrent	RTC::TimedDoubleSeq	[rad]	Actual joint angles

Output Ports

port name	data type	unit	description
q	RTC::TimedDoubleSeq	[rad]	Output reference joint angles

N/A

Service Ports

Service Providers

port name	interface name	service type	IDL	description
CollisionDetectorService	service0	CollisionDetectorService	OpenHRP::CollisionDetectorService

Service Consumers

N/A

Configuration Variables

N/A

Configuration File

key	type	unit	description
dt	double	[s]	sampling time
model	std::string		URL of a VRML model
collision_viewer	bool		Use viewer or not
collision_model	std::string		Collision model ("AABB" or "convex hull"). If not specified, use "convex hull" by default.
collision_pair	list of string		List of collision link pair. For example "RARM_JOINT6:WAIST RARM_JOINT6:LARM_JOINT6"
collision_loop	int		Collision loop