Public Member Functions | Protected Member Functions | Protected Attributes
planning_environment::CollisionModels Class Reference

A class capable of loading a robot model from the parameter server. More...

#include <collision_models.h>

Inheritance diagram for planning_environment::CollisionModels:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool addAttachedObject (const arm_navigation_msgs::AttachedCollisionObject &att)
bool addAttachedObject (const std::string &object_name, const std::string &link_name, std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, const std::vector< std::string > &touch_links, double padding)
bool addStaticObject (const arm_navigation_msgs::CollisionObject &obj)
void addStaticObject (const std::string &name, std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, double padding)
bool appendJointTrajectoryToPlanningSceneBag (const std::string &filename, const std::string &topic_name, const trajectory_msgs::JointTrajectory &traj)
bool appendMotionPlanRequestToPlanningSceneBag (const std::string &filename, const std::string &topic_name, const arm_navigation_msgs::MotionPlanRequest &req)
void applyLinkPaddingToCollisionSpace (const std::vector< arm_navigation_msgs::LinkPadding > &link_padding)
bool applyOrderedCollisionOperationsToCollisionSpace (const arm_navigation_msgs::OrderedCollisionOperations &ord, bool print=false)
void bodiesLock () const
void bodiesUnlock () const
void clearAllowedContacts ()
 CollisionModels (const std::string &description)
 CollisionModels (boost::shared_ptr< urdf::Model > urdf, planning_models::KinematicModel *kmodel, collision_space::EnvironmentModel *ode_collision_model_)
bool convertAttachedCollisionObjectToNewWorldFrame (const planning_models::KinematicState &state, arm_navigation_msgs::AttachedCollisionObject &att_obj) const
bool convertAttachedObjectToStaticObject (const std::string &object_name, const std::string &link_name, const tf::Transform &link_pose)
bool convertCollisionObjectToNewWorldFrame (const planning_models::KinematicState &state, arm_navigation_msgs::CollisionObject &obj) const
bool convertConstraintsGivenNewWorldTransform (const planning_models::KinematicState &state, arm_navigation_msgs::Constraints &constraints, const std::string &opt_frame="") const
bool convertPointGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Point &point, geometry_msgs::PointStamped &ret_point) const
bool convertPoseGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Pose &pose, geometry_msgs::PoseStamped &ret_pose) const
bool convertQuaternionGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Quaternion &quat, geometry_msgs::QuaternionStamped &ret_quat) const
bool convertStaticObjectToAttachedObject (const std::string &object_name, const std::string &link_name, const tf::Transform &link_pose, const std::vector< std::string > &touch_links)
void deleteAllAttachedObjects (const std::string &link_name="")
void deleteAllStaticObjects ()
bool deleteAttachedObject (const std::string &object_id, const std::string &link_name)
void deleteStaticObject (const std::string &name)
bool disableCollisionsForNonUpdatedLinks (const std::string &group_name, bool use_default=false)
void getAllCollisionPointMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
void getAllCollisionsForState (const planning_models::KinematicState &state, std::vector< arm_navigation_msgs::ContactInformation > &contacts, unsigned int num_per_pair=1)
void getAllCollisionSpaceObjectMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &static_color, const std_msgs::ColorRGBA &attached_color, const ros::Duration &lifetime)
void getAllEnvironmentCollisionsForObject (const std::string &object_name, std::vector< arm_navigation_msgs::ContactInformation > &contacts, unsigned int num_per_pair=1)
void getAttachedCollisionObjectMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const bool show_padded=false, const std::vector< std::string > *link_names=NULL) const
void getAttachedCollisionObjectNames (std::vector< std::string > &a_strings) const
void getCollisionMapAsMarkers (visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
const std::vector
< tf::Transform > & 
getCollisionMapPoses () const
const std::vector
< shapes::Shape * > & 
getCollisionMapShapes () const
void getCollisionObjectNames (std::vector< std::string > &o_strings) const
const
collision_space::EnvironmentModel
getCollisionSpace () const
 Return the instance of the constructed ODE collision model.
void getCollisionSpaceAllowedCollisions (arm_navigation_msgs::AllowedCollisionMatrix &matrix) const
void getCollisionSpaceAttachedCollisionObjects (std::vector< arm_navigation_msgs::AttachedCollisionObject > &avec) const
void getCollisionSpaceCollisionMap (arm_navigation_msgs::CollisionMap &cmap) const
void getCollisionSpaceCollisionObjects (std::vector< arm_navigation_msgs::CollisionObject > &omap) const
const
collision_space::EnvironmentModel::AllowedCollisionMatrix
getCurrentAllowedCollisionMatrix () const
void getCurrentLinkPadding (std::vector< arm_navigation_msgs::LinkPadding > &link_padding)
std::map< std::string, double > getCurrentLinkPaddingMap () const
const
collision_space::EnvironmentModel::AllowedCollisionMatrix
getDefaultAllowedCollisionMatrix () const
const std::map< std::string,
double > & 
getDefaultLinkPaddingMap () const
double getDefaultObjectPadding (void) const
void getDefaultOrderedCollisionOperations (std::vector< arm_navigation_msgs::CollisionOperation > &self_collision) const
double getDefaultPadding (void) const
 Get the padding to be used for the robot parts when inserted in the collision space.
double getDefaultScale (void) const
 Get the scaling to be used for the robot parts when inserted in the collision space.
void getGroupAndUpdatedJointMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &group_name, const std_msgs::ColorRGBA &group_color, const std_msgs::ColorRGBA &updated_color, const ros::Duration &lifetime) const
void getLastCollisionMap (arm_navigation_msgs::CollisionMap &cmap) const
const std::map< std::string,
std::map< std::string,
bodies::BodyVector * > > & 
getLinkAttachedObjects () const
void getPlanningSceneGivenState (const planning_models::KinematicState &state, arm_navigation_msgs::PlanningScene &scene)
void getRobotMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const std::string &name, const ros::Duration &lifetime, const std::vector< std::string > *names=NULL, const double scale=1.0, const bool show_collision_models=true) const
void getRobotPaddedMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const std::string &name, const ros::Duration &lifetime, const std::vector< std::string > *names=NULL) const
const std::map< std::string,
geometry_msgs::TransformStamped > & 
getSceneTransformMap () const
void getStaticCollisionObjectMarkers (visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime) const
double getTotalTrajectoryJointLength (planning_models::KinematicState &state, const trajectory_msgs::JointTrajectory &trajectory) const
bool isJointTrajectoryValid (const arm_navigation_msgs::PlanningScene &planning_scene, const trajectory_msgs::JointTrajectory &trajectory, const arm_navigation_msgs::Constraints &goal_constraints, const arm_navigation_msgs::Constraints &path_constraints, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &trajectory_error_codes, const bool evaluate_entire_trajectory)
bool isJointTrajectoryValid (planning_models::KinematicState &state, const trajectory_msgs::JointTrajectory &trajectory, const arm_navigation_msgs::Constraints &goal_constraints, const arm_navigation_msgs::Constraints &path_constraints, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &trajectory_error_codes, const bool evaluate_entire_trajectory)
bool isKinematicStateInCollision (const planning_models::KinematicState &state)
bool isKinematicStateInEnvironmentCollision (const planning_models::KinematicState &state)
bool isKinematicStateInObjectCollision (const planning_models::KinematicState &state, const std::string &object_name)
bool isKinematicStateInSelfCollision (const planning_models::KinematicState &state)
bool isKinematicStateValid (const planning_models::KinematicState &state, const std::vector< std::string > &names, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, const arm_navigation_msgs::Constraints goal_constraints, const arm_navigation_msgs::Constraints path_constraints, bool verbose=false)
bool isObjectInCollision (const std::string &object_name)
bool isPlanningSceneSet () const
bool loadJointTrajectoriesInPlanningSceneBag (const std::string &filename, const std::string &topic_name, std::vector< trajectory_msgs::JointTrajectory > &traj_vec)
bool loadMotionPlanRequestsInPlanningSceneBag (const std::string &filename, const std::string &topic_name, std::vector< arm_navigation_msgs::MotionPlanRequest > &motion_plan_reqs)
void maskAndDeleteShapeVector (std::vector< shapes::Shape * > &shapes, std::vector< tf::Transform > &poses)
bool readPlanningSceneBag (const std::string &filename, arm_navigation_msgs::PlanningScene &planning_scene) const
void remaskCollisionMap ()
void revertAllowedCollisionToDefault ()
void revertCollisionSpacePaddingToDefault ()
void revertPlanningScene (planning_models::KinematicState *state)
bool setAlteredAllowedCollisionMatrix (const collision_space::EnvironmentModel::AllowedCollisionMatrix &acm)
void setCollisionMap (const arm_navigation_msgs::CollisionMap &map, bool mask_before_insertion=true)
void setCollisionMap (std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, bool mask_before_insertion=true)
planning_models::KinematicStatesetPlanningScene (const arm_navigation_msgs::PlanningScene &planning_scene)
bool updateAttachedBodyPoses (const planning_models::KinematicState &state)
bool updateAttachedBodyPosesForLink (const planning_models::KinematicState &state, const std::string &link_name)
void writePlanningSceneBag (const std::string &filename, const arm_navigation_msgs::PlanningScene &planning_scene) const
virtual ~CollisionModels (void)

Protected Member Functions

void loadCollisionFromParamServer ()
void setupModelFromParamServer (collision_space::EnvironmentModel *model)

Protected Attributes

double attached_padd_
boost::recursive_mutex bodies_lock_
std::vector< double > bounding_planes_
std::vector< tf::Transformcollision_map_poses_
std::vector< shapes::Shape * > collision_map_shapes_
std::vector
< arm_navigation_msgs::CollisionOperation
default_collision_operations_
double default_padd_
double default_scale_
std::map< std::string,
std::map< std::string,
bodies::BodyVector * > > 
link_attached_objects_
double object_padd_
collision_space::EnvironmentModelode_collision_model_
bool planning_scene_set_
std::map< std::string,
geometry_msgs::TransformStamped > 
scene_transform_map_
std::map< std::string,
bodies::BodyVector * > 
static_object_map_

Detailed Description

A class capable of loading a robot model from the parameter server.

Definition at line 62 of file collision_models.h.


Constructor & Destructor Documentation

planning_environment::CollisionModels::CollisionModels ( const std::string &  description)

Definition at line 57 of file collision_models.cpp.

Definition at line 63 of file collision_models.cpp.

Definition at line 70 of file collision_models.cpp.


Member Function Documentation

Definition at line 787 of file collision_models.cpp.

bool planning_environment::CollisionModels::addAttachedObject ( const std::string &  object_name,
const std::string &  link_name,
std::vector< shapes::Shape * > &  shapes,
const std::vector< tf::Transform > &  poses,
const std::vector< std::string > &  touch_links,
double  padding 
)

Definition at line 822 of file collision_models.cpp.

Definition at line 627 of file collision_models.cpp.

void planning_environment::CollisionModels::addStaticObject ( const std::string &  name,
std::vector< shapes::Shape * > &  shapes,
const std::vector< tf::Transform > &  poses,
double  padding 
)

Definition at line 656 of file collision_models.cpp.

bool planning_environment::CollisionModels::appendJointTrajectoryToPlanningSceneBag ( const std::string &  filename,
const std::string &  topic_name,
const trajectory_msgs::JointTrajectory &  traj 
)

Definition at line 2220 of file collision_models.cpp.

bool planning_environment::CollisionModels::appendMotionPlanRequestToPlanningSceneBag ( const std::string &  filename,
const std::string &  topic_name,
const arm_navigation_msgs::MotionPlanRequest req 
)

Definition at line 2143 of file collision_models.cpp.

Definition at line 1051 of file collision_models.cpp.

Definition at line 1082 of file collision_models.cpp.

Definition at line 458 of file collision_models.h.

Definition at line 462 of file collision_models.h.

Definition at line 199 of file collision_models.h.

Definition at line 445 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertAttachedObjectToStaticObject ( const std::string &  object_name,
const std::string &  link_name,
const tf::Transform link_pose 
)

Definition at line 1000 of file collision_models.cpp.

Definition at line 465 of file collision_models.cpp.

Definition at line 485 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertPointGivenWorldTransform ( const planning_models::KinematicState state,
const std::string &  des_frame_id,
const std_msgs::Header header,
const geometry_msgs::Point point,
geometry_msgs::PointStamped &  ret_point 
) const

Definition at line 542 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertPoseGivenWorldTransform ( const planning_models::KinematicState state,
const std::string &  des_frame_id,
const std_msgs::Header header,
const geometry_msgs::Pose pose,
geometry_msgs::PoseStamped &  ret_pose 
) const

Conversion functions

Definition at line 355 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertQuaternionGivenWorldTransform ( const planning_models::KinematicState state,
const std::string &  des_frame_id,
const std_msgs::Header header,
const geometry_msgs::Quaternion &  quat,
geometry_msgs::QuaternionStamped &  ret_quat 
) const

Definition at line 564 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertStaticObjectToAttachedObject ( const std::string &  object_name,
const std::string &  link_name,
const tf::Transform link_pose,
const std::vector< std::string > &  touch_links 
)

Definition at line 939 of file collision_models.cpp.

void planning_environment::CollisionModels::deleteAllAttachedObjects ( const std::string &  link_name = "")

Definition at line 905 of file collision_models.cpp.

Definition at line 686 of file collision_models.cpp.

bool planning_environment::CollisionModels::deleteAttachedObject ( const std::string &  object_id,
const std::string &  link_name 
)

Definition at line 876 of file collision_models.cpp.

Definition at line 672 of file collision_models.cpp.

bool planning_environment::CollisionModels::disableCollisionsForNonUpdatedLinks ( const std::string &  group_name,
bool  use_default = false 
)

Definition at line 1109 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionPointMarkers ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime 
)

Definition at line 1766 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionsForState ( const planning_models::KinematicState state,
std::vector< arm_navigation_msgs::ContactInformation > &  contacts,
unsigned int  num_per_pair = 1 
)

Definition at line 1392 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionSpaceObjectMarkers ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std::string &  ns,
const std_msgs::ColorRGBA &  static_color,
const std_msgs::ColorRGBA &  attached_color,
const ros::Duration lifetime 
)

Definition at line 1895 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllEnvironmentCollisionsForObject ( const std::string &  object_name,
std::vector< arm_navigation_msgs::ContactInformation > &  contacts,
unsigned int  num_per_pair = 1 
)

Definition at line 1432 of file collision_models.cpp.

void planning_environment::CollisionModels::getAttachedCollisionObjectMarkers ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std::string &  ns,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime,
const bool  show_padded = false,
const std::vector< std::string > *  link_names = NULL 
) const

Definition at line 1814 of file collision_models.cpp.

void planning_environment::CollisionModels::getAttachedCollisionObjectNames ( std::vector< std::string > &  a_strings) const [inline]

Definition at line 443 of file collision_models.h.

void planning_environment::CollisionModels::getCollisionMapAsMarkers ( visualization_msgs::MarkerArray &  arr,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime 
)

Definition at line 1727 of file collision_models.cpp.

Definition at line 427 of file collision_models.h.

Definition at line 423 of file collision_models.h.

void planning_environment::CollisionModels::getCollisionObjectNames ( std::vector< std::string > &  o_strings) const [inline]

Definition at line 431 of file collision_models.h.

Return the instance of the constructed ODE collision model.

Accessors

Definition at line 381 of file collision_models.h.

Definition at line 1265 of file collision_models.cpp.

Definition at line 1310 of file collision_models.cpp.

Definition at line 1219 of file collision_models.cpp.

Definition at line 1271 of file collision_models.cpp.

Definition at line 1180 of file collision_models.cpp.

Definition at line 1077 of file collision_models.cpp.

std::map<std::string,double> planning_environment::CollisionModels::getCurrentLinkPaddingMap ( ) const [inline]

Definition at line 411 of file collision_models.h.

Definition at line 1185 of file collision_models.cpp.

const std::map<std::string,double>& planning_environment::CollisionModels::getDefaultLinkPaddingMap ( ) const [inline]

Definition at line 407 of file collision_models.h.

Definition at line 397 of file collision_models.h.

Definition at line 402 of file collision_models.h.

Get the padding to be used for the robot parts when inserted in the collision space.

Definition at line 392 of file collision_models.h.

Get the scaling to be used for the robot parts when inserted in the collision space.

Definition at line 386 of file collision_models.h.

void planning_environment::CollisionModels::getGroupAndUpdatedJointMarkersGivenState ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std::string &  group_name,
const std_msgs::ColorRGBA &  group_color,
const std_msgs::ColorRGBA &  updated_color,
const ros::Duration lifetime 
) const

Definition at line 2056 of file collision_models.cpp.

Definition at line 1190 of file collision_models.cpp.

const std::map<std::string, std::map<std::string, bodies::BodyVector*> >& planning_environment::CollisionModels::getLinkAttachedObjects ( ) const [inline]

Definition at line 175 of file collision_models.h.

Definition at line 1883 of file collision_models.cpp.

void planning_environment::CollisionModels::getRobotMarkersGivenState ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std_msgs::ColorRGBA &  color,
const std::string &  name,
const ros::Duration lifetime,
const std::vector< std::string > *  names = NULL,
const double  scale = 1.0,
const bool  show_collision_models = true 
) const

Definition at line 1906 of file collision_models.cpp.

void planning_environment::CollisionModels::getRobotPaddedMarkersGivenState ( const planning_models::KinematicState state,
visualization_msgs::MarkerArray &  arr,
const std_msgs::ColorRGBA &  color,
const std::string &  name,
const ros::Duration lifetime,
const std::vector< std::string > *  names = NULL 
) const

Definition at line 2015 of file collision_models.cpp.

const std::map<std::string, geometry_msgs::TransformStamped>& planning_environment::CollisionModels::getSceneTransformMap ( ) const [inline]

Definition at line 419 of file collision_models.h.

void planning_environment::CollisionModels::getStaticCollisionObjectMarkers ( visualization_msgs::MarkerArray &  arr,
const std::string &  ns,
const std_msgs::ColorRGBA &  color,
const ros::Duration lifetime 
) const

Definition at line 1780 of file collision_models.cpp.

double planning_environment::CollisionModels::getTotalTrajectoryJointLength ( planning_models::KinematicState state,
const trajectory_msgs::JointTrajectory &  trajectory 
) const

Definition at line 1703 of file collision_models.cpp.

bool planning_environment::CollisionModels::isJointTrajectoryValid ( const arm_navigation_msgs::PlanningScene planning_scene,
const trajectory_msgs::JointTrajectory &  trajectory,
const arm_navigation_msgs::Constraints goal_constraints,
const arm_navigation_msgs::Constraints path_constraints,
arm_navigation_msgs::ArmNavigationErrorCodes error_code,
std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &  trajectory_error_codes,
const bool  evaluate_entire_trajectory 
)

Definition at line 1524 of file collision_models.cpp.

bool planning_environment::CollisionModels::isJointTrajectoryValid ( planning_models::KinematicState state,
const trajectory_msgs::JointTrajectory &  trajectory,
const arm_navigation_msgs::Constraints goal_constraints,
const arm_navigation_msgs::Constraints path_constraints,
arm_navigation_msgs::ArmNavigationErrorCodes error_code,
std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &  trajectory_error_codes,
const bool  evaluate_entire_trajectory 
)

Definition at line 1550 of file collision_models.cpp.

Definition at line 1349 of file collision_models.cpp.

Definition at line 1367 of file collision_models.cpp.

Definition at line 1376 of file collision_models.cpp.

Definition at line 1358 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateValid ( const planning_models::KinematicState state,
const std::vector< std::string > &  names,
arm_navigation_msgs::ArmNavigationErrorCodes error_code,
const arm_navigation_msgs::Constraints  goal_constraints,
const arm_navigation_msgs::Constraints  path_constraints,
bool  verbose = false 
)

Definition at line 1467 of file collision_models.cpp.

bool planning_environment::CollisionModels::isObjectInCollision ( const std::string &  object_name)

Definition at line 1385 of file collision_models.cpp.

Definition at line 415 of file collision_models.h.

Definition at line 190 of file collision_models.cpp.

bool planning_environment::CollisionModels::loadJointTrajectoriesInPlanningSceneBag ( const std::string &  filename,
const std::string &  topic_name,
std::vector< trajectory_msgs::JointTrajectory > &  traj_vec 
)

Definition at line 2190 of file collision_models.cpp.

bool planning_environment::CollisionModels::loadMotionPlanRequestsInPlanningSceneBag ( const std::string &  filename,
const std::string &  topic_name,
std::vector< arm_navigation_msgs::MotionPlanRequest > &  motion_plan_reqs 
)

Definition at line 2160 of file collision_models.cpp.

void planning_environment::CollisionModels::maskAndDeleteShapeVector ( std::vector< shapes::Shape * > &  shapes,
std::vector< tf::Transform > &  poses 
)

Definition at line 747 of file collision_models.cpp.

bool planning_environment::CollisionModels::readPlanningSceneBag ( const std::string &  filename,
arm_navigation_msgs::PlanningScene planning_scene 
) const

Definition at line 2111 of file collision_models.cpp.

Definition at line 737 of file collision_models.cpp.

Definition at line 1253 of file collision_models.cpp.

Definition at line 1259 of file collision_models.cpp.

Definition at line 339 of file collision_models.cpp.

Definition at line 1172 of file collision_models.cpp.

void planning_environment::CollisionModels::setCollisionMap ( const arm_navigation_msgs::CollisionMap map,
bool  mask_before_insertion = true 
)

Definition at line 700 of file collision_models.cpp.

void planning_environment::CollisionModels::setCollisionMap ( std::vector< shapes::Shape * > &  shapes,
const std::vector< tf::Transform > &  poses,
bool  mask_before_insertion = true 
)

Definition at line 714 of file collision_models.cpp.

Functions for updating state

Definition at line 229 of file collision_models.cpp.

Definition at line 78 of file collision_models.cpp.

Definition at line 615 of file collision_models.cpp.

Definition at line 585 of file collision_models.cpp.

void planning_environment::CollisionModels::writePlanningSceneBag ( const std::string &  filename,
const arm_navigation_msgs::PlanningScene planning_scene 
) const

Functions for bag manipulation

Definition at line 2100 of file collision_models.cpp.


Member Data Documentation

Definition at line 487 of file collision_models.h.

boost::recursive_mutex planning_environment::CollisionModels::bodies_lock_ [mutable, protected]

Definition at line 468 of file collision_models.h.

Definition at line 488 of file collision_models.h.

Definition at line 471 of file collision_models.h.

Definition at line 470 of file collision_models.h.

Definition at line 490 of file collision_models.h.

Definition at line 485 of file collision_models.h.

Definition at line 484 of file collision_models.h.

std::map<std::string, std::map<std::string, bodies::BodyVector*> > planning_environment::CollisionModels::link_attached_objects_ [protected]

Definition at line 475 of file collision_models.h.

Definition at line 486 of file collision_models.h.

Definition at line 480 of file collision_models.h.

Definition at line 482 of file collision_models.h.

std::map<std::string, geometry_msgs::TransformStamped> planning_environment::CollisionModels::scene_transform_map_ [protected]

Definition at line 492 of file collision_models.h.

Definition at line 473 of file collision_models.h.


The documentation for this class was generated from the following files:


planning_environment
Author(s): Ioan Sucan
autogenerated on Mon Dec 2 2013 12:34:43