Function moveit_setup::srdf_setup::computeLinkPairs

• Defined in File compute_default_collisions.hpp

Function Documentation

void moveit_setup::srdf_setup::computeLinkPairs(const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs)

Generate a list of unique link pairs for all links with geometry. Order pairs alphabetically. n choose 2 pairs.

Parameters:

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

• link_pairs – List of all unique link pairs and each pair’s properties