Classes | Typedefs | Enumerations | Functions | Variables
moveit_setup_assistant Namespace Reference

Classes

class  AuthorInformationWidget
class  CheckboxSortWidgetItem
 Subclass QTableWidgetItem for checkboxes to allow custom sorting by implementing the < operator. More...
class  ConfigurationFilesWidget
struct  cycle_detector
class  DefaultCollisionsWidget
 User interface for editing the default collision matrix list in an SRDF. More...
class  DoubleListWidget
class  EndEffectorsWidget
struct  GenerateFile
class  GroupEditWidget
struct  GroupMetaData
class  HeaderWidget
class  KinematicChainWidget
struct  LinkPairData
 Store details on a pair of links. More...
class  LoadPathWidget
class  MoveItConfigData
 This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package. More...
class  NavDelegate
class  NavigationWidget
class  OMPLPlannerDescription
 This class describes the OMPL planners by name, type, and parameter list, used to create the ompl_planning.yaml file. More...
struct  OmplPlanningParameter
class  PassiveJointsWidget
class  PlanningGroupsWidget
class  RobotPosesWidget
class  SelectModeWidget
class  SetupAssistantWidget
class  SliderWidget
class  SortableDisabledCollision
class  StartScreenWidget
 Start screen user interface for MoveIt Configuration Assistant. More...
struct  ThreadComputation
class  VirtualJointsWidget

Typedefs

typedef std::map< const
robot_model::LinkModel
*, std::set< const
robot_model::LinkModel * > > 
LinkGraph
typedef std::map< std::pair
< std::string, std::string >
, LinkPairData
LinkPairMap
 LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.
typedef std::set< std::pair
< std::string, std::string > > 
StringPairSet
typedef std::vector< std::pair
< std::string, std::string > > 
StringPairVector
typedef const YAML::Node * yaml_node_t

Enumerations

enum  DisabledReason {
  NEVER, DEFAULT, ADJACENT, ALWAYS,
  USER, NOT_DISABLED
}
 Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking. More...
enum  GroupType {
  JOINT, LINK, CHAIN, SUBGROUP,
  GROUP
}

Functions

static void computeConnectionGraph (const robot_model::LinkModel *link, LinkGraph &link_graph)
 Build the robot links connection graph and then check for links with no geomotry.
static void computeConnectionGraphRec (const robot_model::LinkModel *link, LinkGraph &link_graph)
 Recursively build the adj list of link connections.
LinkPairMap 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 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.
static unsigned int disableAdjacentLinks (planning_scene::PlanningScene &scene, LinkGraph &link_graph, LinkPairMap &link_pairs)
 Disable collision checking for adjacent links, or adjacent with no geometry links between them.
static unsigned int disableAlwaysInCollision (planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, collision_detection::CollisionRequest &req, StringPairSet &links_seen_colliding, double min_collision_faction=0.95)
 Compute the links that are always in collision.
static unsigned int disableDefaultCollisions (planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, collision_detection::CollisionRequest &req)
 Disable all collision checks that occur when the robot is started in its default state.
DisabledReason disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type.
const std::string disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string.
static unsigned int disableNeverInCollision (const unsigned int num_trials, planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, const collision_detection::CollisionRequest &req, StringPairSet &links_seen_colliding, unsigned int *progress)
 Get the pairs of links that are never in collision.
static void disableNeverInCollisionThread (ThreadComputation tc)
 Thread for getting the pairs of links that are never in collision.
template<typename T >
yaml_node_t findValue (const YAML::Node &node, const T &key)
bool isXacroFile (const std::string &path)
 detemine if given path points to a xacro file
bool loadFileToString (std::string &buffer, const std::string &path)
 load file from given path into buffer
bool loadXacroFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
 run xacro with the given args on the file, return result in buffer
bool loadXmlFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
 helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()
void loadYaml (std::istream &in_stream, YAML::Node &doc_out)
 MOVEIT_CLASS_FORWARD (MoveItConfigData)
static bool setLinkPair (const std::string &linkA, const std::string &linkB, const DisabledReason reason, LinkPairMap &link_pairs)
 Helper function for adding two links to the disabled links data structure.

Variables

static const int DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005
static const double DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005
const boost::unordered_map
< moveit_setup_assistant::DisabledReason,
const char * > 
longReasonsToString
 Boost mapping of reasons for disabling a link pair to strings.
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state"
const boost::unordered_map
< std::string, DisabledReason
reasonsFromString
const boost::unordered_map
< DisabledReason, std::string > 
reasonsToString
static const std::string ROBOT_DESCRIPTION = "robot_description"
const std::string SETUP_ASSISTANT_FILE = ".setup_assistant"
static const std::string VIS_TOPIC_NAME = "planning_components_visualization"

Typedef Documentation

typedef std::map<const robot_model::LinkModel*, std::set<const robot_model::LinkModel*> > moveit_setup_assistant::LinkGraph

Definition at line 87 of file compute_default_collisions.cpp.

typedef std::map<std::pair<std::string, std::string>, LinkPairData> moveit_setup_assistant::LinkPairMap

LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.

Definition at line 72 of file compute_default_collisions.h.

typedef std::set<std::pair<std::string, std::string> > moveit_setup_assistant::StringPairSet

Definition at line 60 of file compute_default_collisions.cpp.

typedef std::vector<std::pair<std::string, std::string> > moveit_setup_assistant::StringPairVector

Definition at line 73 of file configuration_files_widget.h.

typedef const YAML::Node* moveit_setup_assistant::yaml_node_t

Definition at line 129 of file moveit_config_data.cpp.


Enumeration Type Documentation

Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking.

Enumerator:
NEVER 
DEFAULT 
ADJACENT 
ALWAYS 
USER 
NOT_DISABLED 

Definition at line 48 of file compute_default_collisions.h.

Enumerator:
JOINT 
LINK 
CHAIN 
SUBGROUP 
GROUP 

Definition at line 62 of file planning_groups_widget.h.


Function Documentation

void moveit_setup_assistant::computeConnectionGraph ( const robot_model::LinkModel *  link,
LinkGraph &  link_graph 
) [static]

Build the robot links connection graph and then check for links with no geomotry.

Parameters:
linkThe root link to begin a breadth first search on
link_graphA representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 338 of file compute_default_collisions.cpp.

void moveit_setup_assistant::computeConnectionGraphRec ( const robot_model::LinkModel *  link,
LinkGraph &  link_graph 
) [static]

Recursively build the adj list of link connections.

Parameters:
linkThe root link to begin a breadth first search on
link_graphA representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 390 of file compute_default_collisions.cpp.

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.

Parameters:
parent_sceneA reference to the robot in the planning scene
include_never_collidingFlag to disable the check for links that are never in collision
trialsSet the number random collision checks that are made. Increase the probability of correctness
min_collision_fractionIf collisions are found between a pair of links >= this fraction, the are assumed "always" in collision
Returns:
Adj List of unique set of pairs of links in string-based form

Definition at line 173 of file compute_default_collisions.cpp.

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.

Parameters:
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties

Definition at line 318 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableAdjacentLinks ( planning_scene::PlanningScene scene,
LinkGraph &  link_graph,
LinkPairMap &  link_pairs 
) [static]

Disable collision checking for adjacent links, or adjacent with no geometry links between them.

Parameters:
link_graphA representation of all bi-direcitonal joint connections between links in robot_description
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
Returns:
number of adjacent links found and disabled

Definition at line 416 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableAlwaysInCollision ( planning_scene::PlanningScene scene,
LinkPairMap &  link_pairs,
collision_detection::CollisionRequest req,
StringPairSet &  links_seen_colliding,
double  min_collision_faction = 0.95 
) [static]

Compute the links that are always in collision.

Parameters:
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
links_seen_collidingSet of links that have at some point been seen in collision
min_collision_fractionIf collisions are found between a pair of links >= this fraction, the are assumed "always" in collision
Returns:
number of always in collision links found and disabled

Definition at line 473 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableDefaultCollisions ( planning_scene::PlanningScene scene,
LinkPairMap &  link_pairs,
collision_detection::CollisionRequest req 
) [static]

Disable all collision checks that occur when the robot is started in its default state.

Parameters:
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
Returns:
number of default collision links found and disabled

Definition at line 445 of file compute_default_collisions.cpp.

Converts a string reason for disabling a link pair into a struct data type.

Parameters:
reasonstring that should match one of the DisableReason types. If not, is set as "USER"
Returns:
reason as struct

Definition at line 649 of file compute_default_collisions.cpp.

const std::string moveit_setup_assistant::disabledReasonToString ( DisabledReason  reason)

Converts a reason for disabling a link pair into a string.

Parameters:
reasonenum reason type
Returns:
reason as string

Definition at line 641 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableNeverInCollision ( const unsigned int  num_trials,
planning_scene::PlanningScene scene,
LinkPairMap &  link_pairs,
const collision_detection::CollisionRequest req,
StringPairSet &  links_seen_colliding,
unsigned int *  progress 
) [static]

Get the pairs of links that are never in collision.

Parameters:
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
links_seen_collidingSet of links that have at some point been seen in collision
Returns:
number of never in collision links found and disabled

Definition at line 548 of file compute_default_collisions.cpp.

void moveit_setup_assistant::disableNeverInCollisionThread ( ThreadComputation  tc) [static]

Thread for getting the pairs of links that are never in collision.

Parameters:
tcStruct that encapsulates all the data each thread needs

Definition at line 595 of file compute_default_collisions.cpp.

template<typename T >
yaml_node_t moveit_setup_assistant::findValue ( const YAML::Node &  node,
const T key 
)

Definition at line 133 of file moveit_config_data.cpp.

bool moveit_setup_assistant::isXacroFile ( const std::string &  path)

detemine if given path points to a xacro file

Definition at line 44 of file file_loader.cpp.

bool moveit_setup_assistant::loadFileToString ( std::string &  buffer,
const std::string &  path 
)

load file from given path into buffer

Definition at line 50 of file file_loader.cpp.

bool moveit_setup_assistant::loadXacroFileToString ( std::string &  buffer,
const std::string &  path,
const std::vector< std::string > &  xacro_args 
)

run xacro with the given args on the file, return result in buffer

Definition at line 69 of file file_loader.cpp.

bool moveit_setup_assistant::loadXmlFileToString ( std::string &  buffer,
const std::string &  path,
const std::vector< std::string > &  xacro_args 
)

helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()

Definition at line 94 of file file_loader.cpp.

void moveit_setup_assistant::loadYaml ( std::istream &  in_stream,
YAML::Node &  doc_out 
)

Definition at line 141 of file moveit_config_data.cpp.

bool moveit_setup_assistant::setLinkPair ( const std::string &  linkA,
const std::string &  linkB,
const DisabledReason  reason,
LinkPairMap &  link_pairs 
) [static]

Helper function for adding two links to the disabled links data structure.

Parameters:
linkAName of first link
linkBName of second link
reasonEnum reason of why the link pair is disabled from C.C., if it is
link_pairsList of all unique link pairs and each pair's properties
Returns:
bool Was link pair already disabled from C.C.

Definition at line 281 of file compute_default_collisions.cpp.


Variable Documentation

Definition at line 62 of file moveit_config_data.h.

Definition at line 60 of file moveit_config_data.h.

Definition at line 61 of file moveit_config_data.h.

Initial value:
    boost::assign::map_list_of(moveit_setup_assistant::NEVER, "Never in Collision")(moveit_setup_assistant::DEFAULT,
                                                                                    "Collision by Default")(
        moveit_setup_assistant::ADJACENT, "Adjacent Links")(moveit_setup_assistant::ALWAYS, "Always in Collision")(
        moveit_setup_assistant::USER, "User Disabled")(moveit_setup_assistant::NOT_DISABLED, "")

Boost mapping of reasons for disabling a link pair to strings.

Definition at line 51 of file default_collisions_widget.cpp.

const std::string moveit_setup_assistant::MOVEIT_ROBOT_STATE = "moveit_robot_state" [static]

Definition at line 57 of file moveit_config_data.h.

const boost::unordered_map<std::string, DisabledReason> moveit_setup_assistant::reasonsFromString
Initial value:
 boost::assign::map_list_of("Never", NEVER)(
    "Default", DEFAULT)("Adjacent", ADJACENT)("Always", ALWAYS)("User", USER)("Not Disabled", NOT_DISABLED)

Definition at line 56 of file compute_default_collisions.cpp.

const boost::unordered_map<DisabledReason, std::string> moveit_setup_assistant::reasonsToString
Initial value:
 boost::assign::map_list_of(NEVER, "Never")(
    DEFAULT, "Default")(ADJACENT, "Adjacent")(ALWAYS, "Always")(USER, "User")(NOT_DISABLED, "Not Disabled")

Definition at line 53 of file compute_default_collisions.cpp.

const std::string moveit_setup_assistant::ROBOT_DESCRIPTION = "robot_description" [static]

Definition at line 56 of file moveit_config_data.h.

const std::string moveit_setup_assistant::SETUP_ASSISTANT_FILE = ".setup_assistant"

Definition at line 60 of file configuration_files_widget.cpp.

const std::string moveit_setup_assistant::VIS_TOPIC_NAME = "planning_components_visualization" [static]

Definition at line 76 of file planning_groups_widget.cpp.



moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Jul 24 2017 02:22:30