collision_robot_distance_field_ros.h
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00034 
00037 #ifndef _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
00038 #define _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <collision_distance_field_ros/collision_distance_field_ros_helpers.h>
00042 #include <collision_distance_field/collision_robot_distance_field.h>
00043 
00044 namespace collision_detection
00045 {
00046 class CollisionRobotDistanceFieldROS : public CollisionRobotDistanceField
00047 {
00048 public:
00049   CollisionRobotDistanceFieldROS(const planning_models::RobotModelConstPtr& kmodel, double size_x = DEFAULT_SIZE_X,
00050                                  double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
00051                                  bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
00052                                  double resolution = DEFAULT_RESOLUTION,
00053                                  double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
00054                                  double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
00055                                  double padding = 0.0, double scale = 1.0)
00056     : CollisionRobotDistanceField(kmodel)
00057   {
00058     ros::NodeHandle nh;
00059     std::map<std::string, std::vector<CollisionSphere> > coll_spheres;
00060     collision_detection::loadLinkBodySphereDecompositions(nh, getRobotModel(), coll_spheres);
00061     initialize(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution, collision_tolerance,
00062                max_propogation_distance);
00063   }
00064 };
00065 }
00066 
00067 #endif


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jun 19 2019 19:24:03