compute_default_collisions.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_

#include <moveit/planning_scene/planning_scene.h>

namespace moveit_setup_assistant
{

enum DisabledReason { NEVER, DEFAULT, ADJACENT, ALWAYS, USER, NOT_DISABLED };

struct LinkPairData
{
  // by default all link pairs are NOT disabled for collision checking
  LinkPairData() : reason( NOT_DISABLED ), disable_check( false ) {};
  DisabledReason reason;
  bool disable_check;
};

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

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);

void computeLinkPairs( const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs );

const std::string disabledReasonToString( DisabledReason reason );

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

}

#endif