Function stomp_moveit::costs::getCollisionCostFunction

Function Documentation

CostFn stomp_moveit::costs::getCollisionCostFunction(const std::shared_ptr<const planning_scene::PlanningScene> &planning_scene, const moveit::core::JointModelGroup *group, double collision_penalty)

Creates a cost function for binary collisions of group states in the planning scene. This function uses a StateValidatorFn for computing smooth penalty costs from binary collision checks using getCostFunctionFromStateValidator().

  • planning_scene – The planning scene instance to use for collision checking

  • group – The group to use for computing link transforms from joint positions

  • collision_penalty – The penalty cost value applied to colliding states


Cost function that computes smooth costs for colliding path segments