Classes
class	AuthorInformationWidget
class	CheckboxSortWidgetItem
	Subclass QTableWidgetItem for checkboxes to allow custom sorting by implementing the < operator. More...
class	ConfigurationFilesWidget
struct	cycle_detector
class	DefaultCollisionsWidget
	User interface for editing the default collision matrix list in an SRDF. More...
class	DoubleListWidget
class	EndEffectorsWidget
struct	GenerateFile
class	GroupEditWidget
struct	GroupMetaData
class	HeaderWidget
class	KinematicChainWidget
struct	LinkPairData
	Store details on a pair of links. More...
class	LoadPathWidget
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	PlanningGroupsWidget
class	RobotPosesWidget
class	SelectModeWidget
class	SetupAssistantWidget
class	SliderWidget
class	SortableDisabledCollision
class	StartScreenWidget
	Start screen user interface for MoveIt Configuration Assistant. More...
struct	ThreadComputation
class	VirtualJointsWidget
Typedefs
typedef std::map< const robot_model::LinkModel , std::set< const robot_model::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.
typedef std::set< std::pair < std::string, std::string > >	StringPairSet
typedef std::vector< std::pair < std::string, std::string > >	StringPairVector
typedef const YAML::Node *	yaml_node_t
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, LINK, CHAIN, SUBGROUP, GROUP }
Functions
static void	computeConnectionGraph (const robot_model::LinkModel *link, LinkGraph &link_graph)
	Build the robot links connection graph and then check for links with no geomotry.
static void	computeConnectionGraphRec (const robot_model::LinkModel *link, LinkGraph &link_graph)
	Recursively build the adj list of link connections.
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.
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.
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.
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.
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.
DisabledReason	disabledReasonFromString (const std::string &reason)
	Converts a string reason for disabling a link pair into a struct data type.
const std::string	disabledReasonToString (DisabledReason reason)
	Converts a reason for disabling a link pair into a string.
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.
static void	disableNeverInCollisionThread (ThreadComputation tc)
	Thread for getting the pairs of links that are never in collision.
template<typename T >
yaml_node_t	findValue (const YAML::Node &node, const T &key)
bool	isXacroFile (const std::string &path)
	detemine if given path points to a xacro file
bool	loadFileToString (std::string &buffer, const std::string &path)
	load file from given path into buffer
bool	loadXacroFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
	run xacro with the given args on the file, return result in buffer
bool	loadXmlFileToString (std::string &buffer, const std::string &path, const std::vector< std::string > &xacro_args)
	helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()
void	loadYaml (std::istream &in_stream, YAML::Node &doc_out)
	MOVEIT_CLASS_FORWARD (MoveItConfigData)
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.
Variables
static const int	DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3
static const double	DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005
static const double	DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005
const boost::unordered_map < moveit_setup_assistant::DisabledReason, const char * >	longReasonsToString
	Boost mapping of reasons for disabling a link pair to strings.
static const std::string	MOVEIT_ROBOT_STATE = "moveit_robot_state"
const boost::unordered_map < std::string, DisabledReason >	reasonsFromString
const boost::unordered_map < DisabledReason, std::string >	reasonsToString
static const std::string	ROBOT_DESCRIPTION = "robot_description"
const std::string	SETUP_ASSISTANT_FILE = ".setup_assistant"
static const std::string	VIS_TOPIC_NAME = "planning_components_visualization"

Typedef Documentation

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

Definition at line 86 of file compute_default_collisions.cpp.

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 72 of file compute_default_collisions.h.

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

Definition at line 59 of file compute_default_collisions.cpp.

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

Definition at line 73 of file configuration_files_widget.h.

typedef const YAML::Node* moveit_setup_assistant::yaml_node_t

Definition at line 129 of file moveit_config_data.cpp.

Enumeration Type Documentation

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 48 of file compute_default_collisions.h.

enum moveit_setup_assistant::GroupType

Enumerator:

JOINT
LINK
CHAIN
SUBGROUP
GROUP

Definition at line 62 of file planning_groups_widget.h.

Function Documentation

void moveit_setup_assistant::computeConnectionGraph	(	const robot_model::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 337 of file compute_default_collisions.cpp.

void moveit_setup_assistant::computeConnectionGraphRec	(	const robot_model::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 389 of file compute_default_collisions.cpp.

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 172 of file compute_default_collisions.cpp.

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 317 of file compute_default_collisions.cpp.

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 415 of file compute_default_collisions.cpp.

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 472 of file compute_default_collisions.cpp.

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 444 of file compute_default_collisions.cpp.

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 648 of file compute_default_collisions.cpp.

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 640 of file compute_default_collisions.cpp.

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 547 of file compute_default_collisions.cpp.

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 594 of file compute_default_collisions.cpp.

template<typename T >

yaml_node_t moveit_setup_assistant::findValue	(	const YAML::Node &	node,
		const T &	key
	)

Definition at line 133 of file moveit_config_data.cpp.

bool moveit_setup_assistant::isXacroFile ( const std::string & path )

detemine if given path points to a xacro file

Definition at line 44 of file file_loader.cpp.

bool moveit_setup_assistant::loadFileToString	(	std::string &	buffer,
		const std::string &	path
	)

load file from given path into buffer

Definition at line 50 of file file_loader.cpp.

bool moveit_setup_assistant::loadXacroFileToString	(	std::string &	buffer,
		const std::string &	path,
		const std::vector< std::string > &	xacro_args
	)

run xacro with the given args on the file, return result in buffer

Definition at line 69 of file file_loader.cpp.

bool moveit_setup_assistant::loadXmlFileToString	(	std::string &	buffer,
		const std::string &	path,
		const std::vector< std::string > &	xacro_args
	)

helper that branches between loadFileToString() and loadXacroFileToString() based on result of isXacroFile()

Definition at line 94 of file file_loader.cpp.

void moveit_setup_assistant::loadYaml	(	std::istream &	in_stream,
		YAML::Node &	doc_out
	)

Definition at line 141 of file moveit_config_data.cpp.

moveit_setup_assistant::MOVEIT_CLASS_FORWARD ( MoveItConfigData )

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 280 of file compute_default_collisions.cpp.

Variable Documentation

const int moveit_setup_assistant::DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3 [static]

Definition at line 62 of file moveit_config_data.h.

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005 [static]

Definition at line 60 of file moveit_config_data.h.

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005 [static]

Definition at line 61 of file moveit_config_data.h.

const boost::unordered_map<moveit_setup_assistant::DisabledReason, const char*> moveit_setup_assistant::longReasonsToString

Initial value:

    boost::assign::map_list_of(moveit_setup_assistant::NEVER, "Never in Collision")(moveit_setup_assistant::DEFAULT,
                                                                                    "Collision by Default")(
        moveit_setup_assistant::ADJACENT, "Adjacent Links")(moveit_setup_assistant::ALWAYS, "Always in Collision")(
        moveit_setup_assistant::USER, "User Disabled")(moveit_setup_assistant::NOT_DISABLED, "")

Boost mapping of reasons for disabling a link pair to strings.

Definition at line 51 of file default_collisions_widget.cpp.

const std::string moveit_setup_assistant::MOVEIT_ROBOT_STATE = "moveit_robot_state" [static]

Definition at line 57 of file moveit_config_data.h.

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

Initial value:

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

Definition at line 55 of file compute_default_collisions.cpp.

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

Initial value:

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

Definition at line 52 of file compute_default_collisions.cpp.

const std::string moveit_setup_assistant::ROBOT_DESCRIPTION = "robot_description" [static]

Definition at line 56 of file moveit_config_data.h.

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

Definition at line 60 of file configuration_files_widget.cpp.

const std::string moveit_setup_assistant::VIS_TOPIC_NAME = "planning_components_visualization" [static]

Definition at line 76 of file planning_groups_widget.cpp.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation