A class capable of loading a robot model from the parameter server. More...

#include <collision_models.h>

Inheritance diagram for planning_environment::CollisionModels:

Public Member Functions
bool	addAttachedObject (const arm_navigation_msgs::AttachedCollisionObject &att)
bool	addAttachedObject (const std::string &object_name, const std::string &link_name, std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, const std::vector< std::string > &touch_links, double padding)
bool	addStaticObject (const arm_navigation_msgs::CollisionObject &obj)
void	addStaticObject (const std::string &name, std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, double padding)
bool	appendJointTrajectoryToPlanningSceneBag (const std::string &filename, const std::string &topic_name, const trajectory_msgs::JointTrajectory &traj)
bool	appendMotionPlanRequestToPlanningSceneBag (const std::string &filename, const std::string &topic_name, const arm_navigation_msgs::MotionPlanRequest &req)
void	applyLinkPaddingToCollisionSpace (const std::vector< arm_navigation_msgs::LinkPadding > &link_padding)
bool	applyOrderedCollisionOperationsToCollisionSpace (const arm_navigation_msgs::OrderedCollisionOperations &ord, bool print=false)
void	bodiesLock () const
void	bodiesUnlock () const
void	clearAllowedContacts ()
	CollisionModels (const std::string &description)
	CollisionModels (boost::shared_ptr< urdf::Model > urdf, planning_models::KinematicModel kmodel, collision_space::EnvironmentModel ode_collision_model_)
bool	convertAttachedCollisionObjectToNewWorldFrame (const planning_models::KinematicState &state, arm_navigation_msgs::AttachedCollisionObject &att_obj) const
bool	convertAttachedObjectToStaticObject (const std::string &object_name, const std::string &link_name, const tf::Transform &link_pose)
bool	convertCollisionObjectToNewWorldFrame (const planning_models::KinematicState &state, arm_navigation_msgs::CollisionObject &obj) const
bool	convertConstraintsGivenNewWorldTransform (const planning_models::KinematicState &state, arm_navigation_msgs::Constraints &constraints, const std::string &opt_frame="") const
bool	convertPointGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Point &point, geometry_msgs::PointStamped &ret_point) const
bool	convertPoseGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Pose &pose, geometry_msgs::PoseStamped &ret_pose) const
bool	convertQuaternionGivenWorldTransform (const planning_models::KinematicState &state, const std::string &des_frame_id, const std_msgs::Header &header, const geometry_msgs::Quaternion &quat, geometry_msgs::QuaternionStamped &ret_quat) const
bool	convertStaticObjectToAttachedObject (const std::string &object_name, const std::string &link_name, const tf::Transform &link_pose, const std::vector< std::string > &touch_links)
void	deleteAllAttachedObjects (const std::string &link_name="")
void	deleteAllStaticObjects ()
bool	deleteAttachedObject (const std::string &object_id, const std::string &link_name)
void	deleteStaticObject (const std::string &name)
bool	disableCollisionsForNonUpdatedLinks (const std::string &group_name, bool use_default=false)
void	getAllCollisionPointMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
void	getAllCollisionsForState (const planning_models::KinematicState &state, std::vector< arm_navigation_msgs::ContactInformation > &contacts, unsigned int num_per_pair=1)
void	getAllCollisionSpaceObjectMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &static_color, const std_msgs::ColorRGBA &attached_color, const ros::Duration &lifetime)
void	getAllEnvironmentCollisionsForObject (const std::string &object_name, std::vector< arm_navigation_msgs::ContactInformation > &contacts, unsigned int num_per_pair=1)
void	getAttachedCollisionObjectMarkers (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime, const bool show_padded=false, const std::vector< std::string > *link_names=NULL) const
void	getAttachedCollisionObjectNames (std::vector< std::string > &a_strings) const
void	getCollisionMapAsMarkers (visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime)
const std::vector < tf::Transform > &	getCollisionMapPoses () const
const std::vector < shapes::Shape * > &	getCollisionMapShapes () const
void	getCollisionObjectNames (std::vector< std::string > &o_strings) const
const collision_space::EnvironmentModel *	getCollisionSpace () const
	Return the instance of the constructed ODE collision model.
void	getCollisionSpaceAllowedCollisions (arm_navigation_msgs::AllowedCollisionMatrix &matrix) const
void	getCollisionSpaceAttachedCollisionObjects (std::vector< arm_navigation_msgs::AttachedCollisionObject > &avec) const
void	getCollisionSpaceCollisionMap (arm_navigation_msgs::CollisionMap &cmap) const
void	getCollisionSpaceCollisionObjects (std::vector< arm_navigation_msgs::CollisionObject > &omap) const
const collision_space::EnvironmentModel::AllowedCollisionMatrix &	getCurrentAllowedCollisionMatrix () const
void	getCurrentLinkPadding (std::vector< arm_navigation_msgs::LinkPadding > &link_padding)
std::map< std::string, double >	getCurrentLinkPaddingMap () const
const collision_space::EnvironmentModel::AllowedCollisionMatrix &	getDefaultAllowedCollisionMatrix () const
const std::map< std::string, double > &	getDefaultLinkPaddingMap () const
double	getDefaultObjectPadding (void) const
void	getDefaultOrderedCollisionOperations (std::vector< arm_navigation_msgs::CollisionOperation > &self_collision) const
double	getDefaultPadding (void) const
	Get the padding to be used for the robot parts when inserted in the collision space.
double	getDefaultScale (void) const
	Get the scaling to be used for the robot parts when inserted in the collision space.
void	getGroupAndUpdatedJointMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std::string &group_name, const std_msgs::ColorRGBA &group_color, const std_msgs::ColorRGBA &updated_color, const ros::Duration &lifetime) const
void	getLastCollisionMap (arm_navigation_msgs::CollisionMap &cmap) const
const std::map< std::string, std::map< std::string, bodies::BodyVector * > > &	getLinkAttachedObjects () const
void	getPlanningSceneGivenState (const planning_models::KinematicState &state, arm_navigation_msgs::PlanningScene &scene)
void	getRobotMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const std::string &name, const ros::Duration &lifetime, const std::vector< std::string > *names=NULL, const double scale=1.0, const bool show_collision_models=true) const
void	getRobotPaddedMarkersGivenState (const planning_models::KinematicState &state, visualization_msgs::MarkerArray &arr, const std_msgs::ColorRGBA &color, const std::string &name, const ros::Duration &lifetime, const std::vector< std::string > *names=NULL) const
const std::map< std::string, geometry_msgs::TransformStamped > &	getSceneTransformMap () const
void	getStaticCollisionObjectMarkers (visualization_msgs::MarkerArray &arr, const std::string &ns, const std_msgs::ColorRGBA &color, const ros::Duration &lifetime) const
double	getTotalTrajectoryJointLength (planning_models::KinematicState &state, const trajectory_msgs::JointTrajectory &trajectory) const
bool	isJointTrajectoryValid (const arm_navigation_msgs::PlanningScene &planning_scene, const trajectory_msgs::JointTrajectory &trajectory, const arm_navigation_msgs::Constraints &goal_constraints, const arm_navigation_msgs::Constraints &path_constraints, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &trajectory_error_codes, const bool evaluate_entire_trajectory)
bool	isJointTrajectoryValid (planning_models::KinematicState &state, const trajectory_msgs::JointTrajectory &trajectory, const arm_navigation_msgs::Constraints &goal_constraints, const arm_navigation_msgs::Constraints &path_constraints, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &trajectory_error_codes, const bool evaluate_entire_trajectory)
bool	isKinematicStateInCollision (const planning_models::KinematicState &state)
bool	isKinematicStateInEnvironmentCollision (const planning_models::KinematicState &state)
bool	isKinematicStateInObjectCollision (const planning_models::KinematicState &state, const std::string &object_name)
bool	isKinematicStateInSelfCollision (const planning_models::KinematicState &state)
bool	isKinematicStateValid (const planning_models::KinematicState &state, const std::vector< std::string > &names, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, const arm_navigation_msgs::Constraints goal_constraints, const arm_navigation_msgs::Constraints path_constraints, bool verbose=false)
bool	isObjectInCollision (const std::string &object_name)
bool	isPlanningSceneSet () const
bool	loadJointTrajectoriesInPlanningSceneBag (const std::string &filename, const std::string &topic_name, std::vector< trajectory_msgs::JointTrajectory > &traj_vec)
bool	loadMotionPlanRequestsInPlanningSceneBag (const std::string &filename, const std::string &topic_name, std::vector< arm_navigation_msgs::MotionPlanRequest > &motion_plan_reqs)
void	maskAndDeleteShapeVector (std::vector< shapes::Shape * > &shapes, std::vector< tf::Transform > &poses)
bool	readPlanningSceneBag (const std::string &filename, arm_navigation_msgs::PlanningScene &planning_scene) const
void	remaskCollisionMap ()
void	revertAllowedCollisionToDefault ()
void	revertCollisionSpacePaddingToDefault ()
void	revertPlanningScene (planning_models::KinematicState *state)
bool	setAlteredAllowedCollisionMatrix (const collision_space::EnvironmentModel::AllowedCollisionMatrix &acm)
void	setCollisionMap (const arm_navigation_msgs::CollisionMap &map, bool mask_before_insertion=true)
void	setCollisionMap (std::vector< shapes::Shape * > &shapes, const std::vector< tf::Transform > &poses, bool mask_before_insertion=true)
planning_models::KinematicState *	setPlanningScene (const arm_navigation_msgs::PlanningScene &planning_scene)
bool	updateAttachedBodyPoses (const planning_models::KinematicState &state)
bool	updateAttachedBodyPosesForLink (const planning_models::KinematicState &state, const std::string &link_name)
void	writePlanningSceneBag (const std::string &filename, const arm_navigation_msgs::PlanningScene &planning_scene) const
virtual	~CollisionModels (void)
Protected Member Functions
void	loadCollisionFromParamServer ()
void	setupModelFromParamServer (collision_space::EnvironmentModel *model)
Protected Attributes
double	attached_padd_
boost::recursive_mutex	bodies_lock_
std::vector< double >	bounding_planes_
std::vector< tf::Transform >	collision_map_poses_
std::vector< shapes::Shape * >	collision_map_shapes_
std::vector < arm_navigation_msgs::CollisionOperation >	default_collision_operations_
double	default_padd_
double	default_scale_
std::map< std::string, std::map< std::string, bodies::BodyVector * > >	link_attached_objects_
double	object_padd_
collision_space::EnvironmentModel *	ode_collision_model_
bool	planning_scene_set_
std::map< std::string, geometry_msgs::TransformStamped >	scene_transform_map_
std::map< std::string, bodies::BodyVector * >	static_object_map_

Detailed Description

A class capable of loading a robot model from the parameter server.

Definition at line 62 of file collision_models.h.

Constructor & Destructor Documentation

planning_environment::CollisionModels::CollisionModels ( const std::string & description )

Definition at line 57 of file collision_models.cpp.

planning_environment::CollisionModels::CollisionModels	(	boost::shared_ptr< urdf::Model >	urdf,
		planning_models::KinematicModel *	kmodel,
		collision_space::EnvironmentModel *	ode_collision_model_
	)

Definition at line 63 of file collision_models.cpp.

planning_environment::CollisionModels::~CollisionModels ( void ) [virtual]

Definition at line 70 of file collision_models.cpp.

Member Function Documentation

bool planning_environment::CollisionModels::addAttachedObject ( const arm_navigation_msgs::AttachedCollisionObject & att )

Definition at line 787 of file collision_models.cpp.

bool planning_environment::CollisionModels::addAttachedObject	(	const std::string &	object_name,
		const std::string &	link_name,
		std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses,
		const std::vector< std::string > &	touch_links,
		double	padding
	)

Definition at line 822 of file collision_models.cpp.

bool planning_environment::CollisionModels::addStaticObject ( const arm_navigation_msgs::CollisionObject & obj )

Definition at line 627 of file collision_models.cpp.

void planning_environment::CollisionModels::addStaticObject	(	const std::string &	name,
		std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses,
		double	padding
	)

Definition at line 656 of file collision_models.cpp.

bool planning_environment::CollisionModels::appendJointTrajectoryToPlanningSceneBag	(	const std::string &	filename,
		const std::string &	topic_name,
		const trajectory_msgs::JointTrajectory &	traj
	)

Definition at line 2220 of file collision_models.cpp.

bool planning_environment::CollisionModels::appendMotionPlanRequestToPlanningSceneBag	(	const std::string &	filename,
		const std::string &	topic_name,
		const arm_navigation_msgs::MotionPlanRequest &	req
	)

Definition at line 2143 of file collision_models.cpp.

void planning_environment::CollisionModels::applyLinkPaddingToCollisionSpace ( const std::vector< arm_navigation_msgs::LinkPadding > & link_padding )

Definition at line 1051 of file collision_models.cpp.

bool planning_environment::CollisionModels::applyOrderedCollisionOperationsToCollisionSpace	(	const arm_navigation_msgs::OrderedCollisionOperations &	ord,
		bool	print = `false`
	)

Definition at line 1082 of file collision_models.cpp.

void planning_environment::CollisionModels::bodiesLock ( ) const [inline]

Definition at line 458 of file collision_models.h.

void planning_environment::CollisionModels::bodiesUnlock ( ) const [inline]

Definition at line 462 of file collision_models.h.

void planning_environment::CollisionModels::clearAllowedContacts ( ) [inline]

Definition at line 199 of file collision_models.h.

bool planning_environment::CollisionModels::convertAttachedCollisionObjectToNewWorldFrame	(	const planning_models::KinematicState &	state,
		arm_navigation_msgs::AttachedCollisionObject &	att_obj
	)		const

Definition at line 445 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertAttachedObjectToStaticObject	(	const std::string &	object_name,
		const std::string &	link_name,
		const tf::Transform &	link_pose
	)

Definition at line 1000 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertCollisionObjectToNewWorldFrame	(	const planning_models::KinematicState &	state,
		arm_navigation_msgs::CollisionObject &	obj
	)		const

Definition at line 465 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertConstraintsGivenNewWorldTransform	(	const planning_models::KinematicState &	state,
		arm_navigation_msgs::Constraints &	constraints,
		const std::string &	opt_frame = `""`
	)		const

Definition at line 485 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertPointGivenWorldTransform	(	const planning_models::KinematicState &	state,
		const std::string &	des_frame_id,
		const std_msgs::Header &	header,
		const geometry_msgs::Point &	point,
		geometry_msgs::PointStamped &	ret_point
	)		const

Definition at line 542 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertPoseGivenWorldTransform	(	const planning_models::KinematicState &	state,
		const std::string &	des_frame_id,
		const std_msgs::Header &	header,
		const geometry_msgs::Pose &	pose,
		geometry_msgs::PoseStamped &	ret_pose
	)		const

Conversion functions

Definition at line 355 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertQuaternionGivenWorldTransform	(	const planning_models::KinematicState &	state,
		const std::string &	des_frame_id,
		const std_msgs::Header &	header,
		const geometry_msgs::Quaternion &	quat,
		geometry_msgs::QuaternionStamped &	ret_quat
	)		const

Definition at line 564 of file collision_models.cpp.

bool planning_environment::CollisionModels::convertStaticObjectToAttachedObject	(	const std::string &	object_name,
		const std::string &	link_name,
		const tf::Transform &	link_pose,
		const std::vector< std::string > &	touch_links
	)

Definition at line 939 of file collision_models.cpp.

void planning_environment::CollisionModels::deleteAllAttachedObjects ( const std::string & link_name = "" )

Definition at line 905 of file collision_models.cpp.

void planning_environment::CollisionModels::deleteAllStaticObjects ( )

Definition at line 686 of file collision_models.cpp.

bool planning_environment::CollisionModels::deleteAttachedObject	(	const std::string &	object_id,
		const std::string &	link_name
	)

Definition at line 876 of file collision_models.cpp.

void planning_environment::CollisionModels::deleteStaticObject ( const std::string & name )

Definition at line 672 of file collision_models.cpp.

bool planning_environment::CollisionModels::disableCollisionsForNonUpdatedLinks	(	const std::string &	group_name,
		bool	use_default = `false`
	)

Definition at line 1109 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionPointMarkers	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime
	)

Definition at line 1766 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionsForState	(	const planning_models::KinematicState &	state,
		std::vector< arm_navigation_msgs::ContactInformation > &	contacts,
		unsigned int	num_per_pair = `1`
	)

Definition at line 1392 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllCollisionSpaceObjectMarkers	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std::string &	ns,
		const std_msgs::ColorRGBA &	static_color,
		const std_msgs::ColorRGBA &	attached_color,
		const ros::Duration &	lifetime
	)

Definition at line 1895 of file collision_models.cpp.

void planning_environment::CollisionModels::getAllEnvironmentCollisionsForObject	(	const std::string &	object_name,
		std::vector< arm_navigation_msgs::ContactInformation > &	contacts,
		unsigned int	num_per_pair = `1`
	)

Definition at line 1432 of file collision_models.cpp.

void planning_environment::CollisionModels::getAttachedCollisionObjectMarkers	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std::string &	ns,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime,
		const bool	show_padded = `false`,
		const std::vector< std::string > *	link_names = `NULL`
	)		const

Definition at line 1814 of file collision_models.cpp.

void planning_environment::CollisionModels::getAttachedCollisionObjectNames ( std::vector< std::string > & a_strings ) const [inline]

Definition at line 443 of file collision_models.h.

void planning_environment::CollisionModels::getCollisionMapAsMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime
	)

Definition at line 1727 of file collision_models.cpp.

const std::vector<tf::Transform>& planning_environment::CollisionModels::getCollisionMapPoses ( ) const [inline]

Definition at line 427 of file collision_models.h.

const std::vector<shapes::Shape*>& planning_environment::CollisionModels::getCollisionMapShapes ( ) const [inline]

Definition at line 423 of file collision_models.h.

void planning_environment::CollisionModels::getCollisionObjectNames ( std::vector< std::string > & o_strings ) const [inline]

Definition at line 431 of file collision_models.h.

const collision_space::EnvironmentModel* planning_environment::CollisionModels::getCollisionSpace ( ) const [inline]

Return the instance of the constructed ODE collision model.

Accessors

Definition at line 381 of file collision_models.h.

void planning_environment::CollisionModels::getCollisionSpaceAllowedCollisions ( arm_navigation_msgs::AllowedCollisionMatrix & matrix ) const

Definition at line 1265 of file collision_models.cpp.

void planning_environment::CollisionModels::getCollisionSpaceAttachedCollisionObjects ( std::vector< arm_navigation_msgs::AttachedCollisionObject > & avec ) const

Definition at line 1310 of file collision_models.cpp.

void planning_environment::CollisionModels::getCollisionSpaceCollisionMap ( arm_navigation_msgs::CollisionMap & cmap ) const

Definition at line 1219 of file collision_models.cpp.

void planning_environment::CollisionModels::getCollisionSpaceCollisionObjects ( std::vector< arm_navigation_msgs::CollisionObject > & omap ) const

Definition at line 1271 of file collision_models.cpp.

const collision_space::EnvironmentModel::AllowedCollisionMatrix & planning_environment::CollisionModels::getCurrentAllowedCollisionMatrix ( ) const

Definition at line 1180 of file collision_models.cpp.

void planning_environment::CollisionModels::getCurrentLinkPadding ( std::vector< arm_navigation_msgs::LinkPadding > & link_padding )

Definition at line 1077 of file collision_models.cpp.

std::map<std::string,double> planning_environment::CollisionModels::getCurrentLinkPaddingMap ( ) const [inline]

Definition at line 411 of file collision_models.h.

const collision_space::EnvironmentModel::AllowedCollisionMatrix & planning_environment::CollisionModels::getDefaultAllowedCollisionMatrix ( ) const

Definition at line 1185 of file collision_models.cpp.

const std::map<std::string,double>& planning_environment::CollisionModels::getDefaultLinkPaddingMap ( ) const [inline]

Definition at line 407 of file collision_models.h.

double planning_environment::CollisionModels::getDefaultObjectPadding ( void ) const [inline]

Definition at line 397 of file collision_models.h.

void planning_environment::CollisionModels::getDefaultOrderedCollisionOperations ( std::vector< arm_navigation_msgs::CollisionOperation > & self_collision ) const [inline]

Definition at line 402 of file collision_models.h.

double planning_environment::CollisionModels::getDefaultPadding ( void ) const [inline]

Get the padding to be used for the robot parts when inserted in the collision space.

Definition at line 392 of file collision_models.h.

double planning_environment::CollisionModels::getDefaultScale ( void ) const [inline]

Get the scaling to be used for the robot parts when inserted in the collision space.

Definition at line 386 of file collision_models.h.

void planning_environment::CollisionModels::getGroupAndUpdatedJointMarkersGivenState	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std::string &	group_name,
		const std_msgs::ColorRGBA &	group_color,
		const std_msgs::ColorRGBA &	updated_color,
		const ros::Duration &	lifetime
	)		const

Definition at line 2056 of file collision_models.cpp.

void planning_environment::CollisionModels::getLastCollisionMap ( arm_navigation_msgs::CollisionMap & cmap ) const

Definition at line 1190 of file collision_models.cpp.

const std::map<std::string, std::map<std::string, bodies::BodyVector*> >& planning_environment::CollisionModels::getLinkAttachedObjects ( ) const [inline]

Definition at line 175 of file collision_models.h.

void planning_environment::CollisionModels::getPlanningSceneGivenState	(	const planning_models::KinematicState &	state,
		arm_navigation_msgs::PlanningScene &	scene
	)

Definition at line 1883 of file collision_models.cpp.

void planning_environment::CollisionModels::getRobotMarkersGivenState	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std_msgs::ColorRGBA &	color,
		const std::string &	name,
		const ros::Duration &	lifetime,
		const std::vector< std::string > *	names = `NULL`,
		const double	scale = `1.0`,
		const bool	show_collision_models = `true`
	)		const

Definition at line 1906 of file collision_models.cpp.

void planning_environment::CollisionModels::getRobotPaddedMarkersGivenState	(	const planning_models::KinematicState &	state,
		visualization_msgs::MarkerArray &	arr,
		const std_msgs::ColorRGBA &	color,
		const std::string &	name,
		const ros::Duration &	lifetime,
		const std::vector< std::string > *	names = `NULL`
	)		const

Definition at line 2015 of file collision_models.cpp.

const std::map<std::string, geometry_msgs::TransformStamped>& planning_environment::CollisionModels::getSceneTransformMap ( ) const [inline]

Definition at line 419 of file collision_models.h.

void planning_environment::CollisionModels::getStaticCollisionObjectMarkers	(	visualization_msgs::MarkerArray &	arr,
		const std::string &	ns,
		const std_msgs::ColorRGBA &	color,
		const ros::Duration &	lifetime
	)		const

Definition at line 1780 of file collision_models.cpp.

double planning_environment::CollisionModels::getTotalTrajectoryJointLength	(	planning_models::KinematicState &	state,
		const trajectory_msgs::JointTrajectory &	trajectory
	)		const

Definition at line 1703 of file collision_models.cpp.

bool planning_environment::CollisionModels::isJointTrajectoryValid	(	const arm_navigation_msgs::PlanningScene &	planning_scene,
		const trajectory_msgs::JointTrajectory &	trajectory,
		const arm_navigation_msgs::Constraints &	goal_constraints,
		const arm_navigation_msgs::Constraints &	path_constraints,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &	trajectory_error_codes,
		const bool	evaluate_entire_trajectory
	)

Definition at line 1524 of file collision_models.cpp.

bool planning_environment::CollisionModels::isJointTrajectoryValid	(	planning_models::KinematicState &	state,
		const trajectory_msgs::JointTrajectory &	trajectory,
		const arm_navigation_msgs::Constraints &	goal_constraints,
		const arm_navigation_msgs::Constraints &	path_constraints,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &	trajectory_error_codes,
		const bool	evaluate_entire_trajectory
	)

Definition at line 1550 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateInCollision ( const planning_models::KinematicState & state )

Definition at line 1349 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateInEnvironmentCollision ( const planning_models::KinematicState & state )

Definition at line 1367 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateInObjectCollision	(	const planning_models::KinematicState &	state,
		const std::string &	object_name
	)

Definition at line 1376 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateInSelfCollision ( const planning_models::KinematicState & state )

Definition at line 1358 of file collision_models.cpp.

bool planning_environment::CollisionModels::isKinematicStateValid	(	const planning_models::KinematicState &	state,
		const std::vector< std::string > &	names,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		const arm_navigation_msgs::Constraints	goal_constraints,
		const arm_navigation_msgs::Constraints	path_constraints,
		bool	verbose = `false`
	)

Definition at line 1467 of file collision_models.cpp.

bool planning_environment::CollisionModels::isObjectInCollision ( const std::string & object_name )

Definition at line 1385 of file collision_models.cpp.

bool planning_environment::CollisionModels::isPlanningSceneSet ( ) const [inline]

Definition at line 415 of file collision_models.h.

void planning_environment::CollisionModels::loadCollisionFromParamServer ( ) [protected]

Definition at line 190 of file collision_models.cpp.

bool planning_environment::CollisionModels::loadJointTrajectoriesInPlanningSceneBag	(	const std::string &	filename,
		const std::string &	topic_name,
		std::vector< trajectory_msgs::JointTrajectory > &	traj_vec
	)

Definition at line 2190 of file collision_models.cpp.

bool planning_environment::CollisionModels::loadMotionPlanRequestsInPlanningSceneBag	(	const std::string &	filename,
		const std::string &	topic_name,
		std::vector< arm_navigation_msgs::MotionPlanRequest > &	motion_plan_reqs
	)

Definition at line 2160 of file collision_models.cpp.

void planning_environment::CollisionModels::maskAndDeleteShapeVector	(	std::vector< shapes::Shape * > &	shapes,
		std::vector< tf::Transform > &	poses
	)

Definition at line 747 of file collision_models.cpp.

bool planning_environment::CollisionModels::readPlanningSceneBag	(	const std::string &	filename,
		arm_navigation_msgs::PlanningScene &	planning_scene
	)		const

Definition at line 2111 of file collision_models.cpp.

void planning_environment::CollisionModels::remaskCollisionMap ( )

Definition at line 737 of file collision_models.cpp.

void planning_environment::CollisionModels::revertAllowedCollisionToDefault ( )

Definition at line 1253 of file collision_models.cpp.

void planning_environment::CollisionModels::revertCollisionSpacePaddingToDefault ( )

Definition at line 1259 of file collision_models.cpp.

void planning_environment::CollisionModels::revertPlanningScene ( planning_models::KinematicState * state )

Definition at line 339 of file collision_models.cpp.

bool planning_environment::CollisionModels::setAlteredAllowedCollisionMatrix ( const collision_space::EnvironmentModel::AllowedCollisionMatrix & acm )

Definition at line 1172 of file collision_models.cpp.

void planning_environment::CollisionModels::setCollisionMap	(	const arm_navigation_msgs::CollisionMap &	map,
		bool	mask_before_insertion = `true`
	)

Definition at line 700 of file collision_models.cpp.

void planning_environment::CollisionModels::setCollisionMap	(	std::vector< shapes::Shape * > &	shapes,
		const std::vector< tf::Transform > &	poses,
		bool	mask_before_insertion = `true`
	)

Definition at line 714 of file collision_models.cpp.

planning_models::KinematicState * planning_environment::CollisionModels::setPlanningScene ( const arm_navigation_msgs::PlanningScene & planning_scene )

Functions for updating state

Definition at line 229 of file collision_models.cpp.

void planning_environment::CollisionModels::setupModelFromParamServer ( collision_space::EnvironmentModel * model ) [protected]

Definition at line 78 of file collision_models.cpp.

bool planning_environment::CollisionModels::updateAttachedBodyPoses ( const planning_models::KinematicState & state )

Definition at line 615 of file collision_models.cpp.

bool planning_environment::CollisionModels::updateAttachedBodyPosesForLink	(	const planning_models::KinematicState &	state,
		const std::string &	link_name
	)

Definition at line 585 of file collision_models.cpp.

void planning_environment::CollisionModels::writePlanningSceneBag	(	const std::string &	filename,
		const arm_navigation_msgs::PlanningScene &	planning_scene
	)		const