compute_default_collisions.h
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00034 
00035 /* Author: Dave Coleman */
00036 
00037 #ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
00038 #define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
00039 
00040 #include <moveit/planning_scene/planning_scene.h>
00041 
00042 namespace moveit_setup_assistant
00043 {
00048 enum DisabledReason
00049 {
00050   NEVER,
00051   DEFAULT,
00052   ADJACENT,
00053   ALWAYS,
00054   USER,
00055   NOT_DISABLED
00056 };
00057 
00061 struct LinkPairData
00062 {
00063   // by default all link pairs are NOT disabled for collision checking
00064   LinkPairData() : reason(NOT_DISABLED), disable_check(false){};
00065   DisabledReason reason;
00066   bool disable_check;
00067 };
00068 
00072 typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;
00073 
00083 LinkPairMap computeDefaultCollisions(const planning_scene::PlanningSceneConstPtr& parent_scene, unsigned int* progress,
00084                                      const bool include_never_colliding, const unsigned int trials,
00085                                      const double min_collision_faction, const bool verbose);
00086 
00092 void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);
00093 
00099 const std::string disabledReasonToString(DisabledReason reason);
00100 
00106 DisabledReason disabledReasonFromString(const std::string& reason);
00107 }
00108 
00109 #endif


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Mon Jul 24 2017 02:22:29