compute_default_collisions.cpp File Reference

#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#include <boost/math/special_functions/binomial.hpp>
#include <boost/thread.hpp>
#include <tinyxml.h>
#include <boost/lexical_cast.hpp>
#include <boost/unordered_map.hpp>
#include <boost/assign.hpp>
#include <ros/console.h>

Include dependency graph for compute_default_collisions.cpp:

Go to the source code of this file.

Classes
struct	moveit_setup_assistant::ThreadComputation
Namespaces
namespace	moveit_setup_assistant
Typedefs
typedef std::map< const robot_model::LinkModel *, std::set< const robot_model::LinkModel * > >	moveit_setup_assistant::LinkGraph
typedef std::set< std::pair < std::string, std::string > >	moveit_setup_assistant::StringPairSet
Functions
static void	moveit_setup_assistant::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	moveit_setup_assistant::computeConnectionGraphRec (const robot_model::LinkModel *link, LinkGraph &link_graph)
	Recursively build the adj list of link connections.
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.
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.
static unsigned int	moveit_setup_assistant::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	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)
	Compute the links that are always in collision.
static unsigned int	moveit_setup_assistant::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	moveit_setup_assistant::disabledReasonFromString (const std::string &reason)
	Converts a string reason for disabling a link pair into a struct data type.
const std::string	moveit_setup_assistant::disabledReasonToString (DisabledReason reason)
	Converts a reason for disabling a link pair into a string.
static 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)
	Get the pairs of links that are never in collision.
static void	moveit_setup_assistant::disableNeverInCollisionThread (ThreadComputation tc)
	Thread for getting the pairs of links that are never in collision.
static bool	moveit_setup_assistant::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
const boost::unordered_map < std::string, DisabledReason >	moveit_setup_assistant::reasonsFromString
const boost::unordered_map < DisabledReason, std::string >	moveit_setup_assistant::reasonsToString