hybrid_collision_robot_ros.h

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#pragma once
 
#include <ros/ros.h>
#include <collision_distance_field_ros/collision_distance_field_ros_helpers.h>
#include <collision_distance_field/hybrid_collision_robot.h>
 
namespace collision_detection
{
class CollisionRobotHybridROS : public CollisionRobotHybrid
{
public:
  CollisionRobotHybridROS(const planning_models::RobotModelConstPtr& robot_model, double size_x = DEFAULT_SIZE_X,
                          double size_y = DEFAULT_SIZE_Y, double size_z = DEFAULT_SIZE_Z,
                          bool use_signed_distance_field = DEFAULT_USE_SIGNED_DISTANCE_FIELD,
                          double resolution = DEFAULT_RESOLUTION,
                          double collision_tolerance = DEFAULT_COLLISION_TOLERANCE,
                          double max_propogation_distance = DEFAULT_MAX_PROPOGATION_DISTANCE, double padding = 0.0,
                          double scale = 1.0)
    : CollisionRobotHybrid(robot_model)
  {
    ros::NodeHandle nh;
    std::map<std::string, std::vector<CollisionSphere> > coll_spheres;
    collision_detection::loadLinkBodySphereDecompositions(nh, getRobotModel(), coll_spheres);
    initializeRobotDistanceField(coll_spheres, size_x, size_y, size_z, use_signed_distance_field, resolution,
                                 collision_tolerance, max_propogation_distance);
  }
};
}  // namespace collision_detection