planning_environment_msgs: utils.h Source File

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00034 #include <ros/ros.h>
00035 #include <algorithm>
00036 #include <motion_planning_msgs/CollisionOperation.h>
00037 
00038 namespace planning_environment_msgs
00039 {
00040 
00048 inline void generateDisableAllowedCollisionsWithExclusions(const std::vector<std::string>& all_names,
00049                                                            const std::vector<std::string>& exclude_names,
00050                                                            std::vector<motion_planning_msgs::CollisionOperation>& collision_operations) 
00051 {
00052   for(std::vector<std::string>::const_iterator it = all_names.begin();
00053       it != all_names.end();
00054       it++) {
00055     if(std::find(exclude_names.begin(), exclude_names.end(), *it) == exclude_names.end()) {
00056       motion_planning_msgs::CollisionOperation coll;
00057       coll.object1 = *it;
00058       coll.object2 = coll.COLLISION_SET_OBJECTS;
00059       coll.operation = coll.DISABLE;
00060       collision_operations.insert(collision_operations.end(),coll);
00061       coll.object2 = coll.COLLISION_SET_ATTACHED_OBJECTS;
00062       collision_operations.insert(collision_operations.end(),coll);
00063       for(std::vector<std::string>::const_iterator it2 = all_names.begin();
00064           it2 != all_names.end();
00065           it2++) {
00066         if(*it != *it2 && std::find(exclude_names.begin(), exclude_names.end(), *it2) == exclude_names.end()) {
00067           coll.object1 = *it;
00068           coll.object2 = *it2;
00069           collision_operations.insert(collision_operations.end(),coll);
00070         }
00071       }
00072     }
00073   }
00074 }
00075 }