collision_tools.h

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#ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
#define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_

#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/CostSource.h>
#include <moveit_msgs/ContactInformation.h>
#include <visualization_msgs/MarkerArray.h>

namespace collision_detection
{

void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr,
                                     const std::string& frame_id,
                                     const CollisionResult::ContactMap &con,
                                     const std_msgs::ColorRGBA& color,
                                     const ros::Duration& lifetime,
                                     const double radius = 0.035);

void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr,
                                     const std::string& frame_id,
                                     const CollisionResult::ContactMap &con);


void getCostMarkers(visualization_msgs::MarkerArray& arr,
                    const std::string& frame_id,
                    std::set<CostSource> &cost_sources);

void getCostMarkers(visualization_msgs::MarkerArray& arr,
                    const std::string& frame_id,
                    std::set<CostSource> &cost_sources,
                    const std_msgs::ColorRGBA& color,
                    const ros::Duration& lifetime);

double getTotalCost(const std::set<CostSource> &cost_sources);

void removeCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &cost_sources_to_remove, double overlap_fraction);
void intersectCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &a, const std::set<CostSource> &b);
void removeOverlapping(std::set<CostSource> &cost_sources, double overlap_fraction);


bool getSensorPositioning(geometry_msgs::Point &point,
                          const std::set<CostSource> &cost_sources);

void costSourceToMsg(const CostSource &cost_source, moveit_msgs::CostSource &msg);
void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation &msg);

}

#endif