Program Listing for File default_collisions.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_setup_srdf_plugins/compute_default_collisions.hpp>
#include <boost/thread/thread.hpp>
// less operation for two CollisionPairs
struct CollisionPairLess
{
bool operator()(const srdf::Model::CollisionPair& left, const srdf::Model::CollisionPair& right) const
{
// use std::pair's operator<: (left.link1_, left.link2_) < (right.link1_, right.link2_)
return left.link1_ < right.link1_ || (!(right.link1_ < left.link1_) && left.link2_ < right.link2_);
}
};
namespace moveit_setup
{
namespace srdf_setup
{
class DefaultCollisions : public SRDFStep
{
public:
std::string getName() const override
{
return "Self-Collisions";
}
std::vector<std::string> getCollidingLinks();
void linkPairsToSRDF();
void linkPairsToSRDFSorted(size_t skip_mask = 0);
void linkPairsFromSRDF();
LinkPairMap& getLinkPairs()
{
return link_pairs_;
}
// For Threaded Operations
void startGenerationThread(unsigned int num_trials, double min_frac, bool verbose = true);
void cancelGenerationThread();
void joinGenerationThread();
int getThreadProgress() const;
protected:
void generateCollisionTable(unsigned int num_trials, double min_frac, bool verbose);
LinkPairMap link_pairs_;
// For threaded operations
boost::thread worker_;
unsigned int progress_;
};
} // namespace srdf_setup
} // namespace moveit_setup