collision_tools.h File Reference

#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/msg/cost_source.hpp>
#include <moveit_msgs/msg/contact_information.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rcl/time.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/time.hpp>

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Namespaces
	collision_detection

Functions
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)
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)
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)
double	collision_detection::getTotalCost (const std::set< CostSource > &cost_sources)
void	collision_detection::removeCostSources (std::set< CostSource > &cost_sources, const std::set< CostSource > &cost_sources_to_remove, double overlap_fraction)
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)
bool	collision_detection::getSensorPositioning (geometry_msgs::msg::Point &point, const std::set< CostSource > &cost_sources)
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)