collision_tools.cpp File Reference

#include <moveit/collision_detection/collision_tools.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/time.hpp>
#include <tf2_eigen/tf2_eigen.hpp>

Include dependency graph for collision_tools.cpp:

Go to the source code of this file.

Namespaces
	collision_detection

Functions
void	collision_detection::getCostMarkers (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources)
void	collision_detection::getCollisionMarkersFromContacts (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con)
void	collision_detection::getCostMarkers (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, std::set< CostSource > &cost_sources, const std_msgs::msg::ColorRGBA &color, const rclcpp::Duration &lifetime)
void	collision_detection::getCollisionMarkersFromContacts (visualization_msgs::msg::MarkerArray &arr, const std::string &frame_id, const CollisionResult::ContactMap &con, const std_msgs::msg::ColorRGBA &color, const rclcpp::Duration &lifetime, const double radius=0.035)
bool	collision_detection::getSensorPositioning (geometry_msgs::msg::Point &point, const std::set< CostSource > &cost_sources)
double	collision_detection::getTotalCost (const std::set< CostSource > &cost_sources)
void	collision_detection::intersectCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &a, const std::set< CostSource > &b)
void	collision_detection::removeOverlapping (std::set< CostSource > &cost_sources, double overlap_fraction)
void	collision_detection::removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)
void	collision_detection::costSourceToMsg (const CostSource &cost_source, moveit_msgs::msg::CostSource &msg)
void	collision_detection::contactToMsg (const Contact &contact, moveit_msgs::msg::ContactInformation &msg)