Function moveit_setup::srdf_setup::computeDefaultCollisions

• Defined in File compute_default_collisions.hpp

Function Documentation

LinkPairMap moveit_setup::srdf_setup::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)

Generate an adjacency list of links that are always and never in collision, to speed up collision detection.

Parameters:

• parent_scene – A reference to the robot in the planning scene

• include_never_colliding – Flag to disable the check for links that are never in collision

• trials – Set the number random collision checks that are made. Increase the probability of correctness

• min_collision_fraction – If collisions are found between a pair of links >= this fraction, the are assumed “always” in collision

Returns:

Adj List of unique set of pairs of links in string-based form