Classes | Typedefs | Enumerations | Functions | Variables
moveit_setup_assistant Namespace Reference

Classes

class  AuthorInformationWidget
 
class  ConfigurationFilesWidget
 
struct  cycle_detector
 
class  DefaultCollisionsWidget
 User interface for editing the default collision matrix list in an SRDF. More...
 
class  DoubleListWidget
 
class  EndEffectorsWidget
 
struct  GenerateFile
 
class  GenericParameter
 
class  GroupEditWidget
 
struct  GroupMetaData
 
class  HeaderWidget
 
class  KinematicChainWidget
 
struct  LinkPairData
 Store details on a pair of links. More...
 
class  LoadPathArgsWidget
 Extend LoadPathWidget with additional line edit for arguments. More...
 
class  LoadPathWidget
 
class  MonitorThread
 QThread to monitor progress of a boost::thread. More...
 
class  MoveItConfigData
 This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt! configuration package. More...
 
class  NavDelegate
 
class  NavigationWidget
 
class  OMPLPlannerDescription
 This class describes the OMPL planners by name, type, and parameter list, used to create the ompl_planning.yaml file. More...
 
struct  OmplPlanningParameter
 
class  PassiveJointsWidget
 
class  PerceptionWidget
 
class  PlanningGroupsWidget
 
class  RobotPosesWidget
 
struct  ROSControlConfig
 
class  RotatedHeaderView
 
class  SelectModeWidget
 
class  SetupAssistantWidget
 
class  SimulationWidget
 
class  SliderWidget
 
class  SortableDisabledCollision
 
class  StartScreenWidget
 Start screen user interface for MoveIt! Configuration Assistant. More...
 
struct  ThreadComputation
 
class  VirtualJointsWidget
 

Typedefs

typedef std::map< const robot_model::LinkModel *, std::set< const robot_model::LinkModel * > > LinkGraph
 
typedef std::map< std::pair< std::string, std::string >, LinkPairDataLinkPairMap
 LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links. More...
 
typedef std::set< std::pair< std::string, std::string > > StringPairSet
 
typedef std::vector< std::pair< std::string, std::string > > StringPairVector
 

Enumerations

enum  DisabledReason {
  NEVER, DEFAULT, ADJACENT, ALWAYS,
  USER, NOT_DISABLED
}
 Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking. More...
 
enum  GroupType {
  JOINT, LINK, CHAIN, SUBGROUP,
  GROUP
}
 

Functions

static void 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 computeConnectionGraphRec (const robot_model::LinkModel *link, LinkGraph &link_graph)
 Recursively build the adj list of link connections. More...
 
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 detection. More...
 
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. More...
 
static unsigned int 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 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 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 disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type. More...
 
const std::string disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string. More...
 
static unsigned int 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 disableNeverInCollisionThread (ThreadComputation tc)
 Thread for getting the pairs of links that are never in collision. More...
 
 MOVEIT_CLASS_FORWARD (MoveItConfigData)
 
template<typename T >
bool parse (const YAML::Node &node, const std::string &key, T &storage, const T &default_value=T())
 
static bool 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

static const int DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3
 
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005
 
static const double DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005
 
static const std::string MOVEIT_ROBOT_STATE = "moveit_robot_state"
 
const boost::unordered_map< std::string, DisabledReasonreasonsFromString
 
const boost::unordered_map< DisabledReason, std::string > reasonsToString
 
static const std::string ROBOT_DESCRIPTION = "robot_description"
 
const std::string SETUP_ASSISTANT_FILE = ".setup_assistant"
 
static const std::string VIS_TOPIC_NAME = "planning_components_visualization"
 

Typedef Documentation

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

Definition at line 86 of file compute_default_collisions.cpp.

typedef std::map<std::pair<std::string, std::string>, LinkPairData> moveit_setup_assistant::LinkPairMap

LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.

Definition at line 72 of file compute_default_collisions.h.

typedef std::set<std::pair<std::string, std::string> > moveit_setup_assistant::StringPairSet

Definition at line 59 of file compute_default_collisions.cpp.

typedef std::vector<std::pair<std::string, std::string> > moveit_setup_assistant::StringPairVector

Definition at line 73 of file configuration_files_widget.h.

Enumeration Type Documentation

Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking.

Enumerator
NEVER 
DEFAULT 
ADJACENT 
ALWAYS 
USER 
NOT_DISABLED 

Definition at line 48 of file compute_default_collisions.h.

Enumerator
JOINT 
LINK 
CHAIN 
SUBGROUP 
GROUP 

Definition at line 62 of file planning_groups_widget.h.

Function Documentation

void moveit_setup_assistant::computeConnectionGraph ( const robot_model::LinkModel *  link,
LinkGraph link_graph 
)
static

Build the robot links connection graph and then check for links with no geomotry.

Parameters
linkThe root link to begin a breadth first search on
link_graphA representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 341 of file compute_default_collisions.cpp.

void moveit_setup_assistant::computeConnectionGraphRec ( const robot_model::LinkModel *  link,
LinkGraph link_graph 
)
static

Recursively build the adj list of link connections.

Parameters
linkThe root link to begin a breadth first search on
link_graphA representation of all bi-direcitonal joint connections between links in robot_description

Definition at line 393 of file compute_default_collisions.cpp.

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.

Parameters
parent_sceneA reference to the robot in the planning scene
include_never_collidingFlag to disable the check for links that are never in collision
trialsSet the number random collision checks that are made. Increase the probability of correctness
min_collision_fractionIf collisions are found between a pair of links >= this fraction, the are assumed "always" in collision
Returns
Adj List of unique set of pairs of links in string-based form

Definition at line 172 of file compute_default_collisions.cpp.

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.

Parameters
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties

Definition at line 321 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableAdjacentLinks ( planning_scene::PlanningScene scene,
LinkGraph link_graph,
LinkPairMap link_pairs 
)
static

Disable collision checking for adjacent links, or adjacent with no geometry links between them.

Parameters
link_graphA representation of all bi-direcitonal joint connections between links in robot_description
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
Returns
number of adjacent links found and disabled

Definition at line 419 of file compute_default_collisions.cpp.

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 
)
static

Compute the links that are always in collision.

Parameters
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
links_seen_collidingSet of links that have at some point been seen in collision
min_collision_fractionIf collisions are found between a pair of links >= this fraction, the are assumed "always" in collision
Returns
number of always in collision links found and disabled

Definition at line 476 of file compute_default_collisions.cpp.

unsigned int moveit_setup_assistant::disableDefaultCollisions ( planning_scene::PlanningScene scene,
LinkPairMap link_pairs,
collision_detection::CollisionRequest req 
)
static

Disable all collision checks that occur when the robot is started in its default state.

Parameters
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
Returns
number of default collision links found and disabled

Definition at line 448 of file compute_default_collisions.cpp.

DisabledReason moveit_setup_assistant::disabledReasonFromString ( const std::string &  reason)

Converts a string reason for disabling a link pair into a struct data type.

Parameters
reasonstring that should match one of the DisableReason types. If not, is set as "USER"
Returns
reason as struct

Definition at line 663 of file compute_default_collisions.cpp.

const std::string moveit_setup_assistant::disabledReasonToString ( DisabledReason  reason)

Converts a reason for disabling a link pair into a string.

Parameters
reasonenum reason type
Returns
reason as string

Definition at line 655 of file compute_default_collisions.cpp.

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 
)
static

Get the pairs of links that are never in collision.

Parameters
sceneA reference to the robot in the planning scene
link_pairsList of all unique link pairs and each pair's properties
reqA reference to a collision request that is already initialized
links_seen_collidingSet of links that have at some point been seen in collision
Returns
number of never in collision links found and disabled

Definition at line 551 of file compute_default_collisions.cpp.

void moveit_setup_assistant::disableNeverInCollisionThread ( ThreadComputation  tc)
static

Thread for getting the pairs of links that are never in collision.

Parameters
tcStruct that encapsulates all the data each thread needs

Definition at line 608 of file compute_default_collisions.cpp.

moveit_setup_assistant::MOVEIT_CLASS_FORWARD ( MoveItConfigData  )
template<typename T >
bool moveit_setup_assistant::parse ( const YAML::Node &  node,
const std::string &  key,
T &  storage,
const T &  default_value = T() 
)

Definition at line 1222 of file moveit_config_data.cpp.

bool moveit_setup_assistant::setLinkPair ( const std::string &  linkA,
const std::string &  linkB,
const DisabledReason  reason,
LinkPairMap link_pairs 
)
static

Helper function for adding two links to the disabled links data structure.

Parameters
linkAName of first link
linkBName of second link
reasonEnum reason of why the link pair is disabled from C.C., if it is
link_pairsList of all unique link pairs and each pair's properties
Returns
bool Was link pair already disabled from C.C.

Definition at line 284 of file compute_default_collisions.cpp.

Variable Documentation

const int moveit_setup_assistant::DEFAULT_KIN_SOLVER_ATTEMPTS_ = 3
static

Definition at line 63 of file moveit_config_data.h.

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION_ = 0.005
static

Definition at line 61 of file moveit_config_data.h.

const double moveit_setup_assistant::DEFAULT_KIN_SOLVER_TIMEOUT_ = 0.005
static

Definition at line 62 of file moveit_config_data.h.

const std::string moveit_setup_assistant::MOVEIT_ROBOT_STATE = "moveit_robot_state"
static

Definition at line 58 of file moveit_config_data.h.

const boost::unordered_map<std::string, DisabledReason> moveit_setup_assistant::reasonsFromString
const boost::unordered_map<DisabledReason, std::string> moveit_setup_assistant::reasonsToString
const std::string moveit_setup_assistant::ROBOT_DESCRIPTION = "robot_description"
static

Definition at line 57 of file moveit_config_data.h.

const std::string moveit_setup_assistant::SETUP_ASSISTANT_FILE = ".setup_assistant"

Definition at line 60 of file configuration_files_widget.cpp.

const std::string moveit_setup_assistant::VIS_TOPIC_NAME = "planning_components_visualization"
static

Definition at line 76 of file planning_groups_widget.cpp.



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