compute_default_collisions.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2012, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman */
36 
37 #ifndef MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
38 #define MOVEIT_MOVEIT_SETUP_ASSISTANT_TOOLS_COMPUTE_DEFAULT_COLLISIONS_
39 
41 
43 {
49 {
56 };
57 
62 {
63  // by default all link pairs are NOT disabled for collision checking
67 };
68 
72 typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;
73 
83 LinkPairMap computeDefaultCollisions(const planning_scene::PlanningSceneConstPtr& parent_scene, unsigned int* progress,
84  const bool include_never_colliding, const unsigned int trials,
85  const double min_collision_faction, const bool verbose);
86 
92 void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);
93 
100 
107 }
108 
109 #endif
Store details on a pair of links.
void 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.
const std::string disabledReasonToString(DisabledReason reason)
Converts a reason for disabling a link pair into a string.
DisabledReason
Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the lin...
LinkPairMap 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 det...
DisabledReason disabledReasonFromString(const std::string &reason)
Converts a string reason for disabling a link pair into a struct data type.
std::map< std::pair< std::string, std::string >, LinkPairData > LinkPairMap
LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled l...


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