collision_tools.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
38 #define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
39 
41 #include <moveit_msgs/CostSource.h>
42 #include <moveit_msgs/ContactInformation.h>
43 #include <visualization_msgs/MarkerArray.h>
44 
45 namespace collision_detection
46 {
47 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
48  const CollisionResult::ContactMap& con, const std_msgs::ColorRGBA& color,
49  const ros::Duration& lifetime, const double radius = 0.035);
50 
51 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
52  const CollisionResult::ContactMap& con);
53 
55 void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
56  std::set<CostSource>& cost_sources);
57 
58 void getCostMarkers(visualization_msgs::MarkerArray& arr, const std::string& frame_id,
59  std::set<CostSource>& cost_sources, const std_msgs::ColorRGBA& color,
60  const ros::Duration& lifetime);
61 
62 double getTotalCost(const std::set<CostSource>& cost_sources);
63 
64 void removeCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& cost_sources_to_remove,
65  double overlap_fraction);
66 void intersectCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& a,
67  const std::set<CostSource>& b);
68 void removeOverlapping(std::set<CostSource>& cost_sources, double overlap_fraction);
69 
70 bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource>& cost_sources);
71 
72 void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
73 void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
74 }
75 
76 #endif
void getCostMarkers(visualization_msgs::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)
void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const double radius=0.035)
double getTotalCost(const std::set< CostSource > &cost_sources)
void costSourceToMsg(const CostSource &cost_source, moveit_msgs::CostSource &msg)
void contactToMsg(const Contact &contact, moveit_msgs::ContactInformation &msg)
Generic interface to collision detection.
std::map< std::pair< std::string, std::string >, std::vector< Contact > > ContactMap
void intersectCostSources(std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)
bool getSensorPositioning(geometry_msgs::Point &point, const std::set< CostSource > &cost_sources)
void removeOverlapping(std::set< CostSource > &cost_sources, double overlap_fraction)
void removeCostSources(std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 15 2018 03:44:46