arm_navigation_msgs: arm_navigation_msgs: utils.h Source File

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00034 #include <ros/ros.h>
00035 #include <algorithm>
00036 #include <arm_navigation_msgs/CollisionOperation.h>
00037 #include <arm_navigation_msgs/SimplePoseConstraint.h>
00038 #include <arm_navigation_msgs/convert_messages.h>
00039 #include <arm_navigation_msgs/MoveArmGoal.h>
00040 
00041 namespace arm_navigation_msgs
00042 {
00043 
00048 void addGoalConstraintToMoveArmGoal(const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::MoveArmGoal &move_arm_goal)
00049 {
00050   arm_navigation_msgs::PositionConstraint position_constraint;
00051   arm_navigation_msgs::OrientationConstraint orientation_constraint;
00052   poseConstraintToPositionOrientationConstraints(pose_constraint,position_constraint,orientation_constraint);
00053   move_arm_goal.motion_plan_request.goal_constraints.position_constraints.push_back(position_constraint);
00054   move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.push_back(orientation_constraint);
00055 }
00056 
00064 inline void generateDisableAllowedCollisionsWithExclusions(const std::vector<std::string>& all_names,
00065                                                            const std::vector<std::string>& exclude_names,
00066                                                            std::vector<arm_navigation_msgs::CollisionOperation>& collision_operations) 
00067 {
00068   for(std::vector<std::string>::const_iterator it = all_names.begin();
00069       it != all_names.end();
00070       it++) {
00071     if(std::find(exclude_names.begin(), exclude_names.end(), *it) == exclude_names.end()) {
00072       arm_navigation_msgs::CollisionOperation coll;
00073       coll.object1 = *it;
00074       coll.object2 = coll.COLLISION_SET_OBJECTS;
00075       coll.operation = coll.DISABLE;
00076       collision_operations.insert(collision_operations.end(),coll);
00077       coll.object2 = coll.COLLISION_SET_ATTACHED_OBJECTS;
00078       collision_operations.insert(collision_operations.end(),coll);
00079       for(std::vector<std::string>::const_iterator it2 = all_names.begin();
00080           it2 != all_names.end();
00081           it2++) {
00082         if(*it != *it2 && std::find(exclude_names.begin(), exclude_names.end(), *it2) == exclude_names.end()) {
00083           coll.object1 = *it;
00084           coll.object2 = *it2;
00085           collision_operations.insert(collision_operations.end(),coll);
00086         }
00087       }
00088     }
00089   }
00090 }
00091 }