utils.cpp File Reference

Tesseract Environment Utility Functions. More...

#include <tesseract_collision/core/utils.h>
#include <iostream>
#include <console_bridge/console.h>
#include <tesseract_environment/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/joint.h>
#include <tesseract_state_solver/state_solver.h>
#include <tesseract_kinematics/core/joint_group.h>
#include <tesseract_collision/core/discrete_contact_manager.h>
#include <tesseract_collision/core/continuous_contact_manager.h>

Include dependency graph for utils.cpp:

Go to the source code of this file.

Namespaces
	tesseract_environment

Typedefs
using	tesseract_environment::CalcStateFn = std::function< tesseract_common::TransformMap(const Eigen::VectorXd &state)>

Functions
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const CalcStateFn &state_fn, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a continuous collision check over the trajectory and stop on first collision. More...
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const CalcStateFn &state_fn, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_kinematics::JointGroup &manip, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...
bool	tesseract_environment::checkTrajectory (std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::DiscreteContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
	Should perform a discrete collision check over the trajectory and stop on first collision. More...
void	tesseract_environment::checkTrajectorySegment (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state0, const tesseract_common::TransformMap &state1, const tesseract_collision::ContactRequest &contact_request)
	Should perform a continuous collision check between two states only passing along the contact_request to the manager. More...
void	tesseract_environment::checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::ContactRequest &contact_request)
	Should perform a discrete collision check a state first configuring manager with config. More...
void	tesseract_environment::checkTrajectoryState (tesseract_collision::ContactResultMap &contact_results, tesseract_collision::DiscreteContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::ContactRequest &contact_request)
	Should perform a discrete collision check a state only passing contact_request to the manager. More...
void	tesseract_environment::getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &current_link, bool active)
	Get the active Link Names Recursively. More...
void	tesseract_environment::printContinuousDebugInfo (const std::vector< std::string > &joint_names, const Eigen::VectorXd &swp0, const Eigen::VectorXd &swp1, tesseract_common::TrajArray::Index step_idx, tesseract_common::TrajArray::Index step_size, tesseract_common::TrajArray::Index sub_step_idx=-1)
void	tesseract_environment::printDiscreteDebugInfo (const std::vector< std::string > &joint_names, const Eigen::VectorXd &swp, tesseract_common::TrajArray::Index step_idx, tesseract_common::TrajArray::Index step_size, tesseract_common::TrajArray::Index sub_step_idx=-1)

Detailed Description

Tesseract Environment Utility Functions.

Author

Levi Armstrong

Date

Dec 18, 2017

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file utils.cpp.