Classes | Namespaces | Typedefs | Functions | Variables
compute_default_collisions.cpp File Reference
#include <moveit/setup_assistant/tools/compute_default_collisions.h>
#include <boost/math/special_functions/binomial.hpp>
#include <boost/thread.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/unordered_map.hpp>
#include <boost/assign.hpp>
#include <ros/console.h>
Include dependency graph for compute_default_collisions.cpp:

Go to the source code of this file.

Classes

struct  moveit_setup_assistant::ThreadComputation
 

Namespaces

 moveit_setup_assistant
 

Typedefs

typedef std::map< const robot_model::LinkModel *, std::set< const robot_model::LinkModel * > > moveit_setup_assistant::LinkGraph
 
typedef std::set< std::pair< std::string, std::string > > moveit_setup_assistant::StringPairSet
 

Functions

static void moveit_setup_assistant::computeConnectionGraph (const robot_model::LinkModel *link, LinkGraph &link_graph)
 Build the robot links connection graph and then check for links with no geomotry. More...
 
static void moveit_setup_assistant::computeConnectionGraphRec (const robot_model::LinkModel *link, LinkGraph &link_graph)
 Recursively build the adj list of link connections. More...
 
LinkPairMap moveit_setup_assistant::computeDefaultCollisions (const planning_scene::PlanningSceneConstPtr &parent_scene, unsigned int *progress, const bool include_never_colliding, const unsigned int trials, const double min_collision_faction, const bool verbose)
 Generate an adjacency list of links that are always and never in collision, to speed up collision detection. More...
 
void moveit_setup_assistant::computeLinkPairs (const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs)
 Generate a list of unique link pairs for all links with geometry. Order pairs alphabetically. n choose 2 pairs. More...
 
static unsigned int moveit_setup_assistant::disableAdjacentLinks (planning_scene::PlanningScene &scene, LinkGraph &link_graph, LinkPairMap &link_pairs)
 Disable collision checking for adjacent links, or adjacent with no geometry links between them. More...
 
static unsigned int moveit_setup_assistant::disableAlwaysInCollision (planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, collision_detection::CollisionRequest &req, StringPairSet &links_seen_colliding, double min_collision_faction=0.95)
 Compute the links that are always in collision. More...
 
static unsigned int moveit_setup_assistant::disableDefaultCollisions (planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, collision_detection::CollisionRequest &req)
 Disable all collision checks that occur when the robot is started in its default state. More...
 
DisabledReason moveit_setup_assistant::disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type. More...
 
const std::string moveit_setup_assistant::disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string. More...
 
static unsigned int moveit_setup_assistant::disableNeverInCollision (const unsigned int num_trials, planning_scene::PlanningScene &scene, LinkPairMap &link_pairs, const collision_detection::CollisionRequest &req, StringPairSet &links_seen_colliding, unsigned int *progress)
 Get the pairs of links that are never in collision. More...
 
static void moveit_setup_assistant::disableNeverInCollisionThread (ThreadComputation tc)
 Thread for getting the pairs of links that are never in collision. More...
 
static bool moveit_setup_assistant::setLinkPair (const std::string &linkA, const std::string &linkB, const DisabledReason reason, LinkPairMap &link_pairs)
 Helper function for adding two links to the disabled links data structure. More...
 

Variables

const boost::unordered_map< std::string, DisabledReason > moveit_setup_assistant::reasonsFromString
 
const boost::unordered_map< DisabledReason, std::string > moveit_setup_assistant::reasonsToString
 


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Sun Oct 18 2020 13:19:28