utils.h

Go to the documentation of this file.

 
#ifndef TESSERACT_SRDF_UTILS_H
#define TESSERACT_SRDF_UTILS_H
 
#include <functional>
 
#include <tesseract_common/types.h>
#include <tesseract_common/allowed_collision_matrix.h>
#include <tesseract_scene_graph/fwd.h>
 
namespace tesseract_srdf
{
class SRDFModel;
 
void processSRDFAllowedCollisions(tesseract_scene_graph::SceneGraph& scene_graph, const SRDFModel& srdf_model);
 
bool compareLinkPairAlphabetically(std::reference_wrapper<const tesseract_common::LinkNamesPair> pair1,
                                   std::reference_wrapper<const tesseract_common::LinkNamesPair> pair2);
 
std::vector<std::reference_wrapper<const tesseract_common::LinkNamesPair>>
getAlphabeticalACMKeys(const tesseract_common::AllowedCollisionEntries& allowed_collision_entries);
}  // namespace tesseract_srdf
#endif  // TESSERACT_SRDF_UTILS_H