collision_tools.h File Reference

#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/CostSource.h>
#include <moveit_msgs/ContactInformation.h>
#include <visualization_msgs/MarkerArray.h>

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Namespaces
namespace	collision_detection
	Generic interface to collision detection.
Functions
void	collision_detection::contactToMsg (const Contact &contact, moveit_msgs::ContactInformation &msg)
void	collision_detection::costSourceToMsg (const CostSource &cost_source, moveit_msgs::CostSource &msg)
void	collision_detection::getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035)
void	collision_detection::getCollisionMarkersFromContacts (visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)
void	collision_detection::getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)
void	collision_detection::getCostMarkers (visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
bool	collision_detection::getSensorPositioning (geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)
double	collision_detection::getTotalCost (const std::set< CostSource > &cost_sources)
void	collision_detection::intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)
void	collision_detection::removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)
void	collision_detection::removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)