hybrid_collision_robot_ros.h
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00034 
00037 #ifndef _COLLISION_ROBOT_HYBRID_ROS_H_
00038 #define _COLLISION_ROBOT_HYBRID_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/hybrid_collision_robot.h>
00043 
00044 namespace collision_detection
00045 {
00046 class CollisionRobotHybridROS : public CollisionRobotHybrid
00047 {
00048 public:
00049   CollisionRobotHybridROS(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, double padding = 0.0,
00055                           double scale = 1.0)
00056     : CollisionRobotHybrid(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     initializeRobotDistanceField(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution,
00062                                  collision_tolerance, max_propogation_distance);
00063   }
00064 };
00065 }
00066 
00067 #endif


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Mon Jul 24 2017 02:21:02