utils.h

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#ifndef TESSERACT_ENVIRONMENT_CORE_UTILS_H
#define TESSERACT_ENVIRONMENT_CORE_UTILS_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <string>
#include <vector>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_scene_graph/fwd.h>
#include <tesseract_collision/core/fwd.h>
#include <tesseract_state_solver/fwd.h>
#include <tesseract_kinematics/core/fwd.h>
 
#include <tesseract_common/eigen_types.h>
 
namespace tesseract_environment
{
void getActiveLinkNamesRecursive(std::vector<std::string>& active_links,
                                 const tesseract_scene_graph::SceneGraph& scene_graph,
                                 const std::string& current_link,
                                 bool active);
 
void 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);
 
void checkTrajectoryState(tesseract_collision::ContactResultMap& contact_results,
                          tesseract_collision::ContinuousContactManager& manager,
                          const tesseract_common::TransformMap& state,
                          const tesseract_collision::ContactRequest& contact_request);
 
void checkTrajectoryState(tesseract_collision::ContactResultMap& contact_results,
                          tesseract_collision::DiscreteContactManager& manager,
                          const tesseract_common::TransformMap& state,
                          const tesseract_collision::ContactRequest& contact_request);
 
bool 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);
 
bool 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);
 
bool 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);
 
bool 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);
 
}  // namespace tesseract_environment
#endif  // TESSERACT_ENVIRONMENT_CORE_UTILS_H