ros_bullet_utils.h

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 * Software License Agreement (Apache License)
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 * Copyright (c) 2018, Southwest Research Institute
 * All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0
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 * Unless required by applicable law or agreed to in writing, software
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/* Author: Levi Armstrong */
 
#pragma once
 
#include <sstream>
 
#include <octomap_msgs/conversions.h>
#include <geometric_shapes/shape_messages.h>
#include <geometric_shapes/shapes.h>
#include <geometric_shapes/shape_operations.h>
#include <rclcpp/logging.hpp>
 
#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
 
namespace collision_detection_bullet
{
void getActiveLinkNamesRecursive(std::vector<std::string>& active_links, const urdf::LinkConstSharedPtr& urdf_link,
                                 bool active);
 
shapes::ShapePtr constructShape(const urdf::Geometry* geom);
 
Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose);
 
}  // namespace collision_detection_bullet