#include <collision_operations_generator.h>
Public Types | |
typedef std::map< std::string, double > | CollidingJointValues |
enum | DisableType { ADJACENT, ALWAYS, DEFAULT, OFTEN, OCCASIONALLY, NEVER } |
enum | SamplingSafety { VerySafe, Safe, Normal, Fast, VeryFast } |
typedef std::pair< std::string, std::string > | StringPair |
Public Member Functions | |
CollisionOperationsGenerator (CollisionModels *cm) | |
void | disablePairCollisionChecking (const StringPair &pair) |
void | disablePairCollisionChecking (const std::vector< StringPair > &pair_vec) |
void | enableAllCollisions () |
void | enablePairCollisionChecking (const StringPair &pair) |
void | generateAdjacentInCollisionPairs (std::vector< StringPair > &adjacent_in_collision_pairs) |
void | generateAlwaysInCollisionPairs (std::vector< StringPair > &always_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values) |
void | generateDefaultInCollisionPairs (std::vector< StringPair > &default_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values) |
void | generateOccasionallyAndNeverInCollisionPairs (std::vector< StringPair > &occasionally_in_collision_pairs, std::vector< StringPair > &never_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values) |
void | generateOftenInCollisionPairs (std::vector< StringPair > &often_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values) |
void | generateSamplingStructures (const std::map< std::string, bool > &add_map) |
void | outputYamlStringOfSavedResults (YAML::Emitter &outy, const std::map< DisableType, std::vector< StringPair > > &disable_types) |
void | performanceTestSavedResults (std::map< CollisionOperationsGenerator::DisableType, std::vector< CollisionOperationsGenerator::StringPair > > &disable_types) |
void | setSafety (SamplingSafety safety) |
Public Attributes | |
unsigned int | establish_always_num_ |
unsigned int | establish_occasional_num_ |
unsigned int | establish_often_num_ |
double | establish_often_percentage_ |
unsigned int | performance_testing_num_ |
Protected Member Functions | |
void | accumulateAdjacentLinksRecursive (const planning_models::KinematicModel::LinkModel *parent, std::vector< StringPair > &adjacencies) |
void | buildOutputStructures (unsigned int num, double low_value, double high_value, std::vector< StringPair > &meets_threshold_collision, std::vector< double > &collision_percentages, std::vector< CollidingJointValues > &joint_values, std::map< std::string, std::map< std::string, double > > &percentage_num) |
void | generateRandomState (planning_models::KinematicState &state) |
void | resetCountingMap () |
void | sampleAndCountCollisions (unsigned int num) |
Protected Attributes | |
planning_environment::CollisionModels * | cm_ |
std::map< std::string, std::map< std::string, unsigned int > > | collision_count_map_ |
std::map< std::string, std::map< std::string, CollidingJointValues > > | collision_joint_values_ |
std::map< std::string, std::pair< double, double > > | joint_bounds_map_ |
Definition at line 51 of file collision_operations_generator.h.
typedef std::map<std::string, double> planning_environment::CollisionOperationsGenerator::CollidingJointValues |
Definition at line 76 of file collision_operations_generator.h.
typedef std::pair<std::string, std::string> planning_environment::CollisionOperationsGenerator::StringPair |
Definition at line 75 of file collision_operations_generator.h.
Definition at line 55 of file collision_operations_generator.h.
Definition at line 64 of file collision_operations_generator.h.
CollisionOperationsGenerator::CollisionOperationsGenerator | ( | planning_environment::CollisionModels * | cm | ) |
Definition at line 52 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::accumulateAdjacentLinksRecursive | ( | const planning_models::KinematicModel::LinkModel * | parent, |
std::vector< StringPair > & | adjacencies | ||
) | [protected] |
Definition at line 69 of file collision_operations_generator.cpp.
void planning_environment::CollisionOperationsGenerator::buildOutputStructures | ( | unsigned int | num, |
double | low_value, | ||
double | high_value, | ||
std::vector< StringPair > & | meets_threshold_collision, | ||
std::vector< double > & | collision_percentages, | ||
std::vector< CollidingJointValues > & | joint_values, | ||
std::map< std::string, std::map< std::string, double > > & | percentage_num | ||
) | [protected] |
void CollisionOperationsGenerator::disablePairCollisionChecking | ( | const StringPair & | pair | ) |
Definition at line 238 of file collision_operations_generator.cpp.
void planning_environment::CollisionOperationsGenerator::disablePairCollisionChecking | ( | const std::vector< StringPair > & | pair_vec | ) |
Definition at line 225 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::enablePairCollisionChecking | ( | const StringPair & | pair | ) |
Definition at line 232 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateAdjacentInCollisionPairs | ( | std::vector< StringPair > & | adjacent_in_collision_pairs | ) |
Definition at line 61 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateAlwaysInCollisionPairs | ( | std::vector< StringPair > & | always_in_collision_pairs, |
std::vector< CollidingJointValues > & | in_collision_joint_values | ||
) |
Definition at line 85 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateDefaultInCollisionPairs | ( | std::vector< StringPair > & | default_in_collision_pairs, |
std::vector< CollidingJointValues > & | in_collision_joint_values | ||
) |
Definition at line 97 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateOccasionallyAndNeverInCollisionPairs | ( | std::vector< StringPair > & | occasionally_in_collision_pairs, |
std::vector< StringPair > & | never_in_collision_pairs, | ||
std::vector< double > & | collision_percentage, | ||
std::vector< CollidingJointValues > & | in_collision_joint_values | ||
) |
Definition at line 130 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateOftenInCollisionPairs | ( | std::vector< StringPair > & | often_in_collision_pairs, |
std::vector< double > & | collision_percentage, | ||
std::vector< CollidingJointValues > & | in_collision_joint_values | ||
) |
Definition at line 119 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateRandomState | ( | planning_models::KinematicState & | state | ) | [protected] |
Definition at line 453 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::generateSamplingStructures | ( | const std::map< std::string, bool > & | add_map | ) |
Definition at line 252 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::outputYamlStringOfSavedResults | ( | YAML::Emitter & | outy, |
const std::map< DisableType, std::vector< StringPair > > & | disable_types | ||
) |
Definition at line 398 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::performanceTestSavedResults | ( | std::map< CollisionOperationsGenerator::DisableType, std::vector< CollisionOperationsGenerator::StringPair > > & | disable_types | ) |
Definition at line 367 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::resetCountingMap | ( | ) | [protected] |
Definition at line 438 of file collision_operations_generator.cpp.
void CollisionOperationsGenerator::sampleAndCountCollisions | ( | unsigned int | num | ) | [protected] |
Definition at line 284 of file collision_operations_generator.cpp.
void planning_environment::CollisionOperationsGenerator::setSafety | ( | SamplingSafety | safety | ) | [inline] |
Definition at line 107 of file collision_operations_generator.h.
planning_environment::CollisionModels* planning_environment::CollisionOperationsGenerator::cm_ [protected] |
Definition at line 180 of file collision_operations_generator.h.
std::map<std::string, std::map<std::string, unsigned int> > planning_environment::CollisionOperationsGenerator::collision_count_map_ [protected] |
Definition at line 177 of file collision_operations_generator.h.
std::map<std::string, std::map<std::string, CollidingJointValues> > planning_environment::CollisionOperationsGenerator::collision_joint_values_ [protected] |
Definition at line 178 of file collision_operations_generator.h.
Definition at line 153 of file collision_operations_generator.h.
Definition at line 156 of file collision_operations_generator.h.
Definition at line 154 of file collision_operations_generator.h.
Definition at line 155 of file collision_operations_generator.h.
std::map<std::string, std::pair<double, double> > planning_environment::CollisionOperationsGenerator::joint_bounds_map_ [protected] |
Definition at line 176 of file collision_operations_generator.h.
Definition at line 157 of file collision_operations_generator.h.