Program Listing for File compute_default_collisions.hpp
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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