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compute_default_collisions.h File Reference
#include <moveit/planning_scene/planning_scene.h>
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struct  moveit_setup_assistant::LinkPairData
 Store details on a pair of links. More...


namespace  moveit_setup_assistant


typedef std::map< std::pair
< std::string, std::string >
, LinkPairData > 
 LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.


enum  moveit_setup_assistant::DisabledReason {
  moveit_setup_assistant::NEVER, moveit_setup_assistant::DEFAULT, moveit_setup_assistant::ADJACENT, moveit_setup_assistant::ALWAYS,
  moveit_setup_assistant::USER, moveit_setup_assistant::NOT_DISABLED
 Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking. More...


LinkPairMap moveit_setup_assistant::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)
 Generate an adjacency list of links that are always and never in collision, to speed up collision detection.
void moveit_setup_assistant::computeLinkPairs (const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs)
 Generate a list of unique link pairs for all links with geometry. Order pairs alphabetically. n choose 2 pairs.
DisabledReason moveit_setup_assistant::disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type.
const std::string moveit_setup_assistant::disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string.

Author(s): Dave Coleman
autogenerated on Wed Jun 19 2019 19:25:13