#include <choreo_msgs/AssemblySequencePickNPlace.h>#include <choreo_msgs/WireFrameCollisionObject.h>#include <moveit_msgs/CollisionObject.h>#include <moveit_msgs/AttachedCollisionObject.h>#include <moveit/planning_scene/planning_scene.h>#include <descartes_core/robot_model.h>
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Namespaces | |
| choreo_process_planning | |
Functions | |
| void | choreo_process_planning::constructPlanningScene (const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs, planning_scene::PlanningScenePtr s) |
| planning_scene::PlanningScenePtr | choreo_process_planning::constructPlanningScene (const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs) |
| void | choreo_process_planning::constructPlanningScenes (moveit::core::RobotModelConstPtr moveit_model, const std::string &world_frame, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_transition, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess) |
| void | choreo_process_planning::constructPlanningScenes (moveit::core::RobotModelConstPtr moveit_model, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_approach, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_depart, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full) |