model_utils.h File Reference

#include <tf/tf.h>
#include <planning_models/kinematic_state.h>
#include <arm_navigation_msgs/RobotState.h>
#include <arm_navigation_msgs/Constraints.h>
#include <arm_navigation_msgs/OrderedCollisionOperations.h>
#include <planning_environment/util/kinematic_state_constraint_evaluator.h>
#include <arm_navigation_msgs/Shape.h>
#include <visualization_msgs/Marker.h>
#include <arm_navigation_msgs/LinkPadding.h>
#include <collision_space/environment.h>
#include <arm_navigation_msgs/AllowedCollisionMatrix.h>
#include <planning_environment/models/collision_models.h>

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Namespaces
namespace	planning_environment
Functions
bool	planning_environment::applyOrderedCollisionOperationsListToACM (const arm_navigation_msgs::OrderedCollisionOperations &ordered_coll, const std::vector< std::string > &object_names, const std::vector< std::string > &att_names, const planning_models::KinematicModel *model, collision_space::EnvironmentModel::AllowedCollisionMatrix &matrix)
arm_navigation_msgs::AllowedCollisionMatrix	planning_environment::applyOrderedCollisionOperationsToCollisionsModel (const CollisionModels *cm, const arm_navigation_msgs::OrderedCollisionOperations &ordered_coll, const std::vector< std::string > &object_names, const std::vector< std::string > &att_names)
void	planning_environment::applyOrderedCollisionOperationsToMatrix (const arm_navigation_msgs::OrderedCollisionOperations &ord, collision_space::EnvironmentModel::AllowedCollisionMatrix &acm)
void	planning_environment::convertAllowedContactSpecificationMsgToAllowedContactVector (const std::vector< arm_navigation_msgs::AllowedContactSpecification > &acmv, std::vector< collision_space::EnvironmentModel::AllowedContact > &acv)
collision_space::EnvironmentModel::AllowedCollisionMatrix	planning_environment::convertFromACMMsgToACM (const arm_navigation_msgs::AllowedCollisionMatrix &matrix)
void	planning_environment::convertFromACMToACMMsg (const collision_space::EnvironmentModel::AllowedCollisionMatrix &acm, arm_navigation_msgs::AllowedCollisionMatrix &matrix)
void	planning_environment::convertFromLinkPaddingMapToLinkPaddingVector (const std::map< std::string, double > &link_padding_map, std::vector< arm_navigation_msgs::LinkPadding > &link_padding_vector)
void	planning_environment::convertKinematicStateToRobotState (const planning_models::KinematicState &kinematic_state, const ros::Time &timestamp, const std::string &header_frame, arm_navigation_msgs::RobotState &robot_state)
bool	planning_environment::doesKinematicStateObeyConstraints (const planning_models::KinematicState &state, const arm_navigation_msgs::Constraints &constraints, bool verbose=false)
void	planning_environment::getAllKinematicStateStampedTransforms (const planning_models::KinematicState &state, std::vector< geometry_msgs::TransformStamped > &trans_vector, const ros::Time &stamp)
void	planning_environment::getCollisionMarkersFromContactInformation (const std::vector< arm_navigation_msgs::ContactInformation > &contacts, const std::string &world_frame_id, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
void	planning_environment::setMarkerShapeFromShape (const arm_navigation_msgs::Shape &obj, visualization_msgs::Marker &mk)
void	planning_environment::setMarkerShapeFromShape (const shapes::Shape *obj, visualization_msgs::Marker &mk, double padding=0.0)
bool	planning_environment::setRobotStateAndComputeTransforms (const arm_navigation_msgs::RobotState &robot_state, planning_models::KinematicState &state)