Classes
struct	Attribute

class	AuthorInformationWidget

class	ConfigurationFilesWidget

struct	ControllerConfig

class	ControllerEditWidget

class	ControllersWidget

struct	CycleDetector

class	DefaultCollisionsWidget
	User interface for editing the default collision matrix list in an SRDF. More...

class	DoubleListWidget

class	EndEffectorsWidget

struct	GenerateFile

class	GenericParameter

class	GroupEditWidget

struct	GroupMetaData

class	HeaderWidget

class	KinematicChainWidget

struct	LinkPairData
	Store details on a pair of links. More...

class	LoadPathArgsWidget
	Extend LoadPathWidget with additional line edit for arguments. More...

class	LoadPathWidget

class	MonitorThread

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	PerceptionWidget

class	PlanningGroupsWidget

class	RobotPosesWidget

class	RotatedHeaderView

class	SelectModeWidget

class	SetupAssistantWidget

class	SimulationWidget

class	SliderWidget

class	StartScreenWidget
	Start screen user interface for MoveIt Configuration Assistant. More...

struct	ThreadComputation

class	VirtualJointsWidget

Typedefs
typedef std::map< const moveit::core::LinkModel , std::set< const moveit::core::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. More...

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

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

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 = 1, LINK = 2, CHAIN = 3, SUBGROUP = 4, GROUP = 5 }

Functions
static void	computeConnectionGraph (const moveit::core::LinkModel *link, LinkGraph &link_graph)
	Build the robot links connection graph and then check for links with no geomotry. More...

static void	computeConnectionGraphRec (const moveit::core::LinkModel *link, LinkGraph &link_graph)
	Recursively build the adj list of link connections. More...

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. More...

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. More...

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. More...

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. More...

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. More...

DisabledReason	disabledReasonFromString (const std::string &reason)
	Converts a string reason for disabling a link pair into a struct data type. More...

const std::string	disabledReasonToString (DisabledReason reason)
	Converts a reason for disabling a link pair into a string. More...

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. More...

static void	disableNeverInCollisionThread (ThreadComputation tc)
	Thread for getting the pairs of links that are never in collision. More...

	MOVEIT_CLASS_FORWARD (MoveItConfigData)

template<typename T >
bool	parse (const YAML::Node &node, const std::string &key, T &storage, const T &default_value=T())

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. More...

TiXmlElement *	uniqueInsert (TiXmlElement &element, const char tag, const std::vector< Attribute > &attributes={}, const char text=nullptr)

Variables
static const std::string	CONFIG_PATH = "config"

static const double	DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005

static const double	DEFAULT_KIN_SOLVER_TIMEOUT = 0.005

static const std::string	MOVEIT_ROBOT_STATE = "moveit_robot_state"

const boost::unordered_map< std::string, DisabledReason >	REASONS_FROM_STRING

const boost::unordered_map< DisabledReason, std::string >	REASONS_TO_STRING

static const std::string	ROBOT_DESCRIPTION = "robot_description"

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

static const std::string	VIS_TOPIC_NAME = "planning_components_visualization"

Typedef Documentation

◆ LinkGraph

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

Definition at line 119 of file compute_default_collisions.cpp.

◆ LinkPairMap

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 76 of file compute_default_collisions.h.

◆ StringPairSet

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

Definition at line 92 of file compute_default_collisions.cpp.

◆ StringPairVector

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

Definition at line 72 of file configuration_files_widget.h.

Enumeration Type Documentation

◆ DisabledReason

enum moveit_setup_assistant::DisabledReason

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 52 of file compute_default_collisions.h.

◆ GroupType

enum moveit_setup_assistant::GroupType

Enumerator
JOINT
LINK
CHAIN
SUBGROUP
GROUP

Definition at line 62 of file planning_groups_widget.h.

Function Documentation

◆ computeConnectionGraph()

void moveit_setup_assistant::computeConnectionGraph	(	const moveit::core::LinkModel *	link,
		LinkGraph &	link_graph
	)

static

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

Parameters

link	The root link to begin a breadth first search on
link_graph	A representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 372 of file compute_default_collisions.cpp.

◆ computeConnectionGraphRec()

void moveit_setup_assistant::computeConnectionGraphRec	(	const moveit::core::LinkModel *	link,
		LinkGraph &	link_graph
	)

static

Recursively build the adj list of link connections.

Parameters

link	The root link to begin a breadth first search on
link_graph	A representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 423 of file compute_default_collisions.cpp.

◆ computeDefaultCollisions()

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_scene	A reference to the robot in the planning scene
include_never_colliding	Flag to disable the check for links that are never in collision
trials	Set the number random collision checks that are made. Increase the probability of correctness
min_collision_fraction	If 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 205 of file compute_default_collisions.cpp.

◆ computeLinkPairs()

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

scene	A reference to the robot in the planning scene
link_pairs	List of all unique link pairs and each pair's properties

Definition at line 352 of file compute_default_collisions.cpp.

◆ disableAdjacentLinks()

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_graph	A representation of all bi-direcitonal joint connections between links in robot_description
scene	A reference to the robot in the planning scene
link_pairs	List of all unique link pairs and each pair's properties

Returns: number of adjacent links found and disabled

Definition at line 449 of file compute_default_collisions.cpp.

◆ disableAlwaysInCollision()

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

scene	A reference to the robot in the planning scene
link_pairs	List of all unique link pairs and each pair's properties
req	A reference to a collision request that is already initialized
links_seen_colliding	Set of links that have at some point been seen in collision
min_collision_fraction	If 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 506 of file compute_default_collisions.cpp.

◆ disableDefaultCollisions()

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

scene	A reference to the robot in the planning scene
link_pairs	List of all unique link pairs and each pair's properties
req	A reference to a collision request that is already initialized

Returns: number of default collision links found and disabled

Definition at line 478 of file compute_default_collisions.cpp.

◆ disabledReasonFromString()

DisabledReason moveit_setup_assistant::disabledReasonFromString ( const std::string & reason )

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

Parameters

reason string that should match one of the DisableReason types. If not, is set as "USER"

Returns: reason as struct

Definition at line 693 of file compute_default_collisions.cpp.

◆ disabledReasonToString()

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

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

Parameters

reason enum reason type

Returns: reason as string

Definition at line 685 of file compute_default_collisions.cpp.

◆ disableNeverInCollision()

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

scene	A reference to the robot in the planning scene
link_pairs	List of all unique link pairs and each pair's properties
req	A reference to a collision request that is already initialized
links_seen_colliding	Set of links that have at some point been seen in collision

Returns: number of never in collision links found and disabled

Definition at line 581 of file compute_default_collisions.cpp.

◆ disableNeverInCollisionThread()

void moveit_setup_assistant::disableNeverInCollisionThread ( ThreadComputation tc )

static

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

Parameters

tc	Struct that encapsulates all the data each thread needs

Definition at line 638 of file compute_default_collisions.cpp.

◆ MOVEIT_CLASS_FORWARD()

moveit_setup_assistant::MOVEIT_CLASS_FORWARD ( MoveItConfigData )

◆ parse()

template<typename T >

bool moveit_setup_assistant::parse	(	const YAML::Node &	node,
		const std::string &	key,
		T &	storage,
		const T &	default_value = `T()`
	)

Definition at line 1367 of file moveit_config_data.cpp.

◆ setLinkPair()

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

linkA	Name of first link
linkB	Name of second link
reason	Enum reason of why the link pair is disabled from C.C., if it is
link_pairs	List of all unique link pairs and each pair's properties

Returns: bool Was link pair already disabled from C.C.

Definition at line 315 of file compute_default_collisions.cpp.

◆ uniqueInsert()

TiXmlElement * moveit_setup_assistant::uniqueInsert	(	TiXmlElement &	element,
		const char *	tag,
		const std::vector< Attribute > &	attributes = `{}`,
		const char *	text = `nullptr`
	)

Insert a new XML element with given tag, attributes and text value

If a corresponding element already exists (and has required attribute values), it is just reused. All attributes are created or overwritten with given values. A text value is created or overwritten with given value (if not NULL). The element is returned

Definition at line 91 of file xml_manipulation.cpp.

Variable Documentation

◆ CONFIG_PATH

const std::string moveit_setup_assistant::CONFIG_PATH = "config"

static

Definition at line 100 of file configuration_files_widget.cpp.

◆ DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005

static

Definition at line 90 of file moveit_config_data.h.

◆ DEFAULT_KIN_SOLVER_TIMEOUT

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_TIMEOUT = 0.005

static

Definition at line 91 of file moveit_config_data.h.

◆ MOVEIT_ROBOT_STATE

const std::string moveit_setup_assistant::MOVEIT_ROBOT_STATE = "moveit_robot_state"

static

Definition at line 87 of file moveit_config_data.h.

◆ REASONS_FROM_STRING

const boost::unordered_map<std::string, DisabledReason> moveit_setup_assistant::REASONS_FROM_STRING

Initial value:

=
    boost::assign::map_list_of("Never", NEVER)("Default", DEFAULT)("Adjacent", ADJACENT)("Always", ALWAYS)(
        "User", USER)("Not Disabled", NOT_DISABLED)

Definition at line 87 of file compute_default_collisions.cpp.

◆ REASONS_TO_STRING

const boost::unordered_map<DisabledReason, std::string> moveit_setup_assistant::REASONS_TO_STRING

Initial value:

= boost::assign::map_list_of(NEVER, "Never")(

DEFAULT, "Default")(ADJACENT, "Adjacent")(ALWAYS, "Always")(USER, "User")(NOT_DISABLED, "Not Disabled")

Definition at line 84 of file compute_default_collisions.cpp.

◆ ROBOT_DESCRIPTION

const std::string moveit_setup_assistant::ROBOT_DESCRIPTION = "robot_description"

static

Definition at line 86 of file moveit_config_data.h.

◆ SETUP_ASSISTANT_FILE

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

static

Definition at line 99 of file configuration_files_widget.cpp.

◆ VIS_TOPIC_NAME

const std::string moveit_setup_assistant::VIS_TOPIC_NAME = "planning_components_visualization"

static

Definition at line 109 of file planning_groups_widget.cpp.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ LinkGraph

◆ LinkPairMap

◆ StringPairSet

◆ StringPairVector

Enumeration Type Documentation

◆ DisabledReason

◆ GroupType

Function Documentation

◆ computeConnectionGraph()

◆ computeConnectionGraphRec()

◆ computeDefaultCollisions()

◆ computeLinkPairs()

◆ disableAdjacentLinks()

◆ disableAlwaysInCollision()

◆ disableDefaultCollisions()

◆ disabledReasonFromString()

◆ disabledReasonToString()

◆ disableNeverInCollision()

◆ disableNeverInCollisionThread()

◆ MOVEIT_CLASS_FORWARD()

◆ parse()

◆ setLinkPair()

◆ uniqueInsert()

Variable Documentation

◆ CONFIG_PATH

◆ DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION

◆ DEFAULT_KIN_SOLVER_TIMEOUT

◆ MOVEIT_ROBOT_STATE

◆ REASONS_FROM_STRING

◆ REASONS_TO_STRING

◆ ROBOT_DESCRIPTION

◆ SETUP_ASSISTANT_FILE

◆ VIS_TOPIC_NAME