.. _program_listing_file_include_moveit_setup_srdf_plugins_compute_default_collisions.hpp:

Program Listing for File compute_default_collisions.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_srdf_plugins_compute_default_collisions.hpp>` (``include/moveit_setup_srdf_plugins/compute_default_collisions.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Dave Coleman */
   
   #pragma once
   
   #include <map>
   #include <moveit/macros/class_forward.h>
   namespace planning_scene
   {
   MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
   }
   
   namespace moveit_setup
   {
   namespace srdf_setup
   {
   enum DisabledReason
   {
     NEVER,
     DEFAULT,
     ADJACENT,
     ALWAYS,
     USER,
     NOT_DISABLED
   };
   
   struct LinkPairData
   {
     // by default all link pairs are NOT disabled for collision checking
     LinkPairData() : reason(NOT_DISABLED), disable_check(false){};
     DisabledReason reason;
     bool disable_check;
   };
   
   typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;
   
   LinkPairMap computeDefaultCollisions(const planning_scene::PlanningSceneConstPtr& parent_scene, unsigned int* progress,
                                        const bool include_never_colliding, const unsigned int trials,
                                        const double min_collision_faction, const bool verbose);
   
   void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);
   
   const std::string disabledReasonToString(DisabledReason reason);
   
   DisabledReason disabledReasonFromString(const std::string& reason);
   }  // namespace srdf_setup
   }  // namespace moveit_setup