collision_robot_distance_field_ros.h
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34 
37 #ifndef _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
38 #define _COLLISION_ROBOT_DISTANCE_FIELD_ROS_H_
39 
40 #include <ros/ros.h>
42 #include <collision_distance_field/collision_robot_distance_field.h>
43 
44 namespace collision_detection
45 {
46 class CollisionRobotDistanceFieldROS : public CollisionRobotDistanceField
47 {
48 public:
49  CollisionRobotDistanceFieldROS(const planning_models::RobotModelConstPtr& kmodel, double size_x = DEFAULT_SIZE_X,
50  double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
51  bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
52  double resolution = DEFAULT_RESOLUTION,
53  double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
54  double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE,
55  double padding = 0.0, double scale = 1.0)
56  : CollisionRobotDistanceField(kmodel)
57  {
58  ros::NodeHandle nh;
59  std::map<std::string, std::vector<CollisionSphere> > coll_spheres;
60  collision_detection::loadLinkBodySphereDecompositions(nh, getRobotModel(), coll_spheres);
61  initialize(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution, collision_tolerance,
62  max_propogation_distance);
63  }
64 };
65 }
66 
67 #endif
static bool loadLinkBodySphereDecompositions(ros::NodeHandle &nh, const planning_models::RobotModelConstPtr &kmodel, std::map< std::string, std::vector< collision_detection::CollisionSphere > > &link_body_spheres)
CollisionRobotDistanceFieldROS(const planning_models::RobotModelConstPtr &kmodel, double size_x=DEFAULT_SIZE_X, double size_y=DEFAULT_SIZE_Y, double size_z=DEFAULT_SIZE_Z, bool use_signed_distance_field=DEFAULT_USE_SIGNED_DISTANCE_FIELD, double resolution=DEFAULT_RESOLUTION, double collision_tolerance=DEFAULT_COLLISION_TOLERANCE, double max_propogation_distance=DEFAULT_MAX_PROPOGATION_DISTANCE, double padding=0.0, double scale=1.0)


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Wed Jul 10 2019 04:03:02