Class DefaultCollisions

Defined in File default_collisions.hpp

Inheritance Relationships

Base Type

public moveit_setup::srdf_setup::SRDFStep (Class SRDFStep)

Class Documentation

class DefaultCollisions : public moveit_setup::srdf_setup::SRDFStep 

Public Functions

inline virtual std::string getName() const override

std::vector<std::string> getCollidingLinks()

void linkPairsToSRDF(): Output Link Pairs to SRDF Format.

void linkPairsToSRDFSorted(size_t skip_mask = 0)

Output Link Pairs to SRDF Format; sorted; with optional filter.

Parameters:: skip_mask – mask of shifted DisabledReason values that will be skipped

void linkPairsFromSRDF(): Load Link Pairs from SRDF Format.

inline LinkPairMap &getLinkPairs()

void startGenerationThread(unsigned int num_trials, double min_frac, bool verbose = true)

void cancelGenerationThread()

void joinGenerationThread()

int getThreadProgress() const

Protected Functions

void generateCollisionTable(unsigned int num_trials, double min_frac, bool verbose)

Protected Attributes

LinkPairMap link_pairs_: main storage of link pair data

boost::thread worker_

unsigned int progress_