collision_tools.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
#define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_

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

namespace collision_detection
{

void 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 getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr,
                                     const std::string& frame_id,
                                     const CollisionResult::ContactMap &con);


void getCostMarkers(visualization_msgs::MarkerArray& arr,
                    const std::string& frame_id,
                    std::set<CostSource> &cost_sources);

void getCostMarkers(visualization_msgs::MarkerArray& arr,
                    const std::string& frame_id,
                    std::set<CostSource> &cost_sources,
                    const std_msgs::ColorRGBA& color,
                    const ros::Duration& lifetime);

double getTotalCost(const std::set<CostSource> &cost_sources);

void removeCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &cost_sources_to_remove, double overlap_fraction);
void intersectCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &a, const std::set<CostSource> &b);
void removeOverlapping(std::set<CostSource> &cost_sources, double overlap_fraction);


bool getSensorPositioning(geometry_msgs::Point &point,
                          const std::set<CostSource> &cost_sources);

void costSourceToMsg(const CostSource &cost_source, moveit_msgs::CostSource &msg);
void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation &msg);

}

#endif