Function pilz_industrial_motion_planner::isStateColliding

Defined in File trajectory_functions.hpp

Function Documentation

bool pilz_industrial_motion_planner::isStateColliding(const planning_scene::PlanningSceneConstPtr &scene, moveit::core::RobotState *state, const moveit::core::JointModelGroup *const group, const double *const ik_solution)

Checks if current robot state is in self collision.

Parameters:

scene – planning scene.
test_for_self_collision – Flag to deactivate this check during IK.
robot_model – robot kinematics model.
state – Robot state instance used for .
group –
ik_solution –

Returns: