37 #ifndef _COLLISION_ROBOT_HYBRID_ROS_H_ 38 #define _COLLISION_ROBOT_HYBRID_ROS_H_ 42 #include <collision_distance_field/hybrid_collision_robot.h> 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,
double padding = 0.0,
56 : CollisionRobotHybrid(kmodel)
59 std::map<std::string, std::vector<CollisionSphere> > coll_spheres;
61 initializeRobotDistanceField(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution,
62 collision_tolerance, max_propogation_distance);
CollisionRobotHybridROS(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)
static bool loadLinkBodySphereDecompositions(ros::NodeHandle &nh, const planning_models::RobotModelConstPtr &kmodel, std::map< std::string, std::vector< collision_detection::CollisionSphere > > &link_body_spheres)