collision_tools.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
00038 #define MOVEIT_COLLISION_DETECTION_COLLISION_TOOLS_
00039 
00040 #include <moveit/collision_detection/collision_common.h>
00041 #include <moveit_msgs/CostSource.h>
00042 #include <moveit_msgs/ContactInformation.h>
00043 #include <visualization_msgs/MarkerArray.h>
00044 
00045 namespace collision_detection
00046 {
00047 
00048 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr,
00049                                      const std::string& frame_id,
00050                                      const CollisionResult::ContactMap &con,
00051                                      const std_msgs::ColorRGBA& color,
00052                                      const ros::Duration& lifetime,
00053                                      const double radius = 0.035);
00054 
00055 void getCollisionMarkersFromContacts(visualization_msgs::MarkerArray& arr,
00056                                      const std::string& frame_id,
00057                                      const CollisionResult::ContactMap &con);
00058 
00059 
00061 void getCostMarkers(visualization_msgs::MarkerArray& arr,
00062                     const std::string& frame_id,
00063                     std::set<CostSource> &cost_sources);
00064 
00065 void getCostMarkers(visualization_msgs::MarkerArray& arr,
00066                     const std::string& frame_id,
00067                     std::set<CostSource> &cost_sources,
00068                     const std_msgs::ColorRGBA& color,
00069                     const ros::Duration& lifetime);
00070 
00071 double getTotalCost(const std::set<CostSource> &cost_sources);
00072 
00073 void removeCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &cost_sources_to_remove, double overlap_fraction);
00074 void intersectCostSources(std::set<CostSource> &cost_sources, const std::set<CostSource> &a, const std::set<CostSource> &b);
00075 void removeOverlapping(std::set<CostSource> &cost_sources, double overlap_fraction);
00076 
00077 
00078 bool getSensorPositioning(geometry_msgs::Point &point,
00079                           const std::set<CostSource> &cost_sources);
00080 
00081 void costSourceToMsg(const CostSource &cost_source, moveit_msgs::CostSource &msg);
00082 void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation &msg);
00083 
00084 }
00085 
00086 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52