utils.h

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#include <ros/ros.h>
#include <algorithm>
#include <arm_navigation_msgs/CollisionOperation.h>
#include <arm_navigation_msgs/SimplePoseConstraint.h>
#include <arm_navigation_msgs/convert_messages.h>
#include <arm_navigation_msgs/MoveArmGoal.h>

namespace arm_navigation_msgs
{

void addGoalConstraintToMoveArmGoal(const arm_navigation_msgs::SimplePoseConstraint &pose_constraint, arm_navigation_msgs::MoveArmGoal &move_arm_goal)
{
  arm_navigation_msgs::PositionConstraint position_constraint;
  arm_navigation_msgs::OrientationConstraint orientation_constraint;
  poseConstraintToPositionOrientationConstraints(pose_constraint,position_constraint,orientation_constraint);
  move_arm_goal.motion_plan_request.goal_constraints.position_constraints.push_back(position_constraint);
  move_arm_goal.motion_plan_request.goal_constraints.orientation_constraints.push_back(orientation_constraint);
}

inline void generateDisableAllowedCollisionsWithExclusions(const std::vector<std::string>& all_names,
                                                           const std::vector<std::string>& exclude_names,
                                                           std::vector<arm_navigation_msgs::CollisionOperation>& collision_operations) 
{
  for(std::vector<std::string>::const_iterator it = all_names.begin();
      it != all_names.end();
      it++) {
    if(std::find(exclude_names.begin(), exclude_names.end(), *it) == exclude_names.end()) {
      arm_navigation_msgs::CollisionOperation coll;
      coll.object1 = *it;
      coll.object2 = coll.COLLISION_SET_OBJECTS;
      coll.operation = coll.DISABLE;
      collision_operations.insert(collision_operations.end(),coll);
      coll.object2 = coll.COLLISION_SET_ATTACHED_OBJECTS;
      collision_operations.insert(collision_operations.end(),coll);
      for(std::vector<std::string>::const_iterator it2 = all_names.begin();
          it2 != all_names.end();
          it2++) {
        if(*it != *it2 && std::find(exclude_names.begin(), exclude_names.end(), *it2) == exclude_names.end()) {
          coll.object1 = *it;
          coll.object2 = *it2;
          collision_operations.insert(collision_operations.end(),coll);
        }
      }
    }
  }
}
}