common.h

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#ifndef TESSERACT_COLLISION_COMMON_H
#define TESSERACT_COLLISION_COMMON_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <vector>
#include <Eigen/Geometry>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_collision/core/types.h>
#include <tesseract_common/contact_allowed_validator.h>
 
namespace tesseract_collision
{
using ObjectPairKey = std::pair<std::string, std::string>;
 
std::vector<ObjectPairKey>
getCollisionObjectPairs(const std::vector<std::string>& active_links,
                        const std::vector<std::string>& static_links,
                        const std::shared_ptr<const tesseract_common::ContactAllowedValidator>& validator = nullptr);
 
bool isLinkActive(const std::vector<std::string>& active, const std::string& name);
 
bool isContactAllowed(const std::string& name1,
                      const std::string& name2,
                      const std::shared_ptr<const tesseract_common::ContactAllowedValidator>& validator,
                      bool verbose = false);
 
ContactResult* processResult(ContactTestData& cdata,
                             ContactResult& contact,
                             const std::pair<std::string, std::string>& key,
                             bool found);
 
void scaleVertices(tesseract_common::VectorVector3d& vertices,
                   const Eigen::Vector3d& center,
                   const Eigen::Vector3d& scale);
 
void scaleVertices(tesseract_common::VectorVector3d& vertices, const Eigen::Vector3d& scale);
 
bool writeSimplePlyFile(const std::string& path,
                        const tesseract_common::VectorVector3d& vertices,
                        const std::vector<Eigen::Vector3i>& vectices_color,
                        const Eigen::VectorXi& faces,
                        int num_faces);
 
bool writeSimplePlyFile(const std::string& path,
                        const tesseract_common::VectorVector3d& vertices,
                        const Eigen::VectorXi& faces,
                        int num_faces);
 
int loadSimplePlyFile(const std::string& path,
                      tesseract_common::VectorVector3d& vertices,
                      Eigen::VectorXi& faces,
                      bool triangles_only = false);
 
}  // namespace tesseract_collision
 
#endif  // TESSERACT_COLLISION_COMMON_H