#include <collision_operations_generator.h>

Public Types
typedef std::map< std::string, double >	CollidingJointValues
enum	DisableType { ADJACENT, ALWAYS, DEFAULT, OFTEN, OCCASIONALLY, NEVER }
enum	SamplingSafety { VerySafe, Safe, Normal, Fast, VeryFast }
typedef std::pair< std::string, std::string >	StringPair
Public Member Functions
	CollisionOperationsGenerator (CollisionModels *cm)
void	disablePairCollisionChecking (const StringPair &pair)
void	disablePairCollisionChecking (const std::vector< StringPair > &pair_vec)
void	enableAllCollisions ()
void	enablePairCollisionChecking (const StringPair &pair)
void	generateAdjacentInCollisionPairs (std::vector< StringPair > &adjacent_in_collision_pairs)
void	generateAlwaysInCollisionPairs (std::vector< StringPair > &always_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values)
void	generateDefaultInCollisionPairs (std::vector< StringPair > &default_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values)
void	generateOccasionallyAndNeverInCollisionPairs (std::vector< StringPair > &occasionally_in_collision_pairs, std::vector< StringPair > &never_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values)
void	generateOftenInCollisionPairs (std::vector< StringPair > &often_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values)
void	generateSamplingStructures (const std::map< std::string, bool > &add_map)
void	outputYamlStringOfSavedResults (YAML::Emitter &outy, const std::map< DisableType, std::vector< StringPair > > &disable_types)
void	performanceTestSavedResults (std::map< CollisionOperationsGenerator::DisableType, std::vector< CollisionOperationsGenerator::StringPair > > &disable_types)
void	setSafety (SamplingSafety safety)
Public Attributes
unsigned int	establish_always_num_
unsigned int	establish_occasional_num_
unsigned int	establish_often_num_
double	establish_often_percentage_
unsigned int	performance_testing_num_
Protected Member Functions
void	accumulateAdjacentLinksRecursive (const planning_models::KinematicModel::LinkModel *parent, std::vector< StringPair > &adjacencies)
void	buildOutputStructures (unsigned int num, double low_value, double high_value, std::vector< StringPair > &meets_threshold_collision, std::vector< double > &collision_percentages, std::vector< CollidingJointValues > &joint_values, std::map< std::string, std::map< std::string, double > > &percentage_num)
void	generateRandomState (planning_models::KinematicState &state)
void	resetCountingMap ()
void	sampleAndCountCollisions (unsigned int num)
Protected Attributes
planning_environment::CollisionModels *	cm_
std::map< std::string, std::map< std::string, unsigned int > >	collision_count_map_
std::map< std::string, std::map< std::string, CollidingJointValues > >	collision_joint_values_
std::map< std::string, std::pair< double, double > >	joint_bounds_map_

Detailed Description

Definition at line 51 of file collision_operations_generator.h.

Member Typedef Documentation

typedef std::map<std::string, double> planning_environment::CollisionOperationsGenerator::CollidingJointValues

Definition at line 76 of file collision_operations_generator.h.

typedef std::pair<std::string, std::string> planning_environment::CollisionOperationsGenerator::StringPair

Definition at line 75 of file collision_operations_generator.h.

Member Enumeration Documentation

enum planning_environment::CollisionOperationsGenerator::DisableType

Enumerator:

ADJACENT
ALWAYS
DEFAULT
OFTEN
OCCASIONALLY
NEVER

Definition at line 55 of file collision_operations_generator.h.

enum planning_environment::CollisionOperationsGenerator::SamplingSafety

Enumerator:

VerySafe
Safe
Normal
Fast
VeryFast

Definition at line 64 of file collision_operations_generator.h.

Constructor & Destructor Documentation

CollisionOperationsGenerator::CollisionOperationsGenerator ( planning_environment::CollisionModels * cm )

Definition at line 52 of file collision_operations_generator.cpp.

Member Function Documentation

void CollisionOperationsGenerator::accumulateAdjacentLinksRecursive	(	const planning_models::KinematicModel::LinkModel *	parent,
		std::vector< StringPair > &	adjacencies
	)		`[protected]`

Definition at line 69 of file collision_operations_generator.cpp.

void planning_environment::CollisionOperationsGenerator::buildOutputStructures	(	unsigned int	num,
		double	low_value,
		double	high_value,
		std::vector< StringPair > &	meets_threshold_collision,
		std::vector< double > &	collision_percentages,
		std::vector< CollidingJointValues > &	joint_values,
		std::map< std::string, std::map< std::string, double > > &	percentage_num
	)		`[protected]`

void CollisionOperationsGenerator::disablePairCollisionChecking ( const StringPair & pair )

Definition at line 238 of file collision_operations_generator.cpp.

void planning_environment::CollisionOperationsGenerator::disablePairCollisionChecking ( const std::vector< StringPair > & pair_vec )

void CollisionOperationsGenerator::enableAllCollisions ( )

Definition at line 225 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::enablePairCollisionChecking ( const StringPair & pair )

Definition at line 232 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateAdjacentInCollisionPairs ( std::vector< StringPair > & adjacent_in_collision_pairs )

Definition at line 61 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateAlwaysInCollisionPairs	(	std::vector< StringPair > &	always_in_collision_pairs,
		std::vector< CollidingJointValues > &	in_collision_joint_values
	)

Definition at line 85 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateDefaultInCollisionPairs	(	std::vector< StringPair > &	default_in_collision_pairs,
		std::vector< CollidingJointValues > &	in_collision_joint_values
	)

Definition at line 97 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateOccasionallyAndNeverInCollisionPairs	(	std::vector< StringPair > &	occasionally_in_collision_pairs,
		std::vector< StringPair > &	never_in_collision_pairs,
		std::vector< double > &	collision_percentage,
		std::vector< CollidingJointValues > &	in_collision_joint_values
	)

Definition at line 130 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateOftenInCollisionPairs	(	std::vector< StringPair > &	often_in_collision_pairs,
		std::vector< double > &	collision_percentage,
		std::vector< CollidingJointValues > &	in_collision_joint_values
	)

Definition at line 119 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateRandomState ( planning_models::KinematicState & state ) [protected]

Definition at line 453 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateSamplingStructures ( const std::map< std::string, bool > & add_map )

Definition at line 252 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::outputYamlStringOfSavedResults	(	YAML::Emitter &	outy,
		const std::map< DisableType, std::vector< StringPair > > &	disable_types
	)

Definition at line 398 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::performanceTestSavedResults ( std::map< CollisionOperationsGenerator::DisableType, std::vector< CollisionOperationsGenerator::StringPair > > & disable_types )