compute_default_collisions.h

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/* Author: Dave Coleman */

#ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
#define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_

#include <moveit/planning_scene/planning_scene.h>

namespace moveit_setup_assistant
{
enum DisabledReason
{
  NEVER,
  DEFAULT,
  ADJACENT,
  ALWAYS,
  USER,
  NOT_DISABLED
};

struct LinkPairData
{
  // by default all link pairs are NOT disabled for collision checking
  LinkPairData() : reason(NOT_DISABLED), disable_check(false){};
  DisabledReason reason;
  bool disable_check;
};

typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;

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);

void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);

const std::string disabledReasonToString(DisabledReason reason);

DisabledReason disabledReasonFromString(const std::string& reason);
}

#endif