collision_tools.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
00038 #define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
00039 
00040 #include <moveit/collision_detection/collision_common.h>
00041 #include <moveit_msgs/CostSource.h>
00042 #include <moveit_msgs/ContactInformation.h>
00043 #include <visualization_msgs/MarkerArray.h>
00044 
00045 namespace collision_detection
00046 {
00047 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
00048                                      const CollisionResult::ContactMap& con, const std_msgs::ColorRGBA& color,
00049                                      const ros::Duration& lifetime, const double radius = 0.035);
00050 
00051 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
00052                                      const CollisionResult::ContactMap& con);
00053 
00055 void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
00056                     std::set<CostSource>& cost_sources);
00057 
00058 void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
00059                     std::set<CostSource>& cost_sources, const std_msgs::ColorRGBA& color,
00060                     const ros::Duration& lifetime);
00061 
00062 double getTotalCost(const std::set<CostSource>& cost_sources);
00063 
00064 void removeCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& cost_sources_to_remove,
00065                        double overlap_fraction);
00066 void intersectCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& a,
00067                           const std::set<CostSource>& b);
00068 void removeOverlapping(std::set<CostSource>& cost_sources, double overlap_fraction);
00069 
00070 bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource>& cost_sources);
00071 
00072 void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
00073 void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
00074 }
00075 
00076 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:35