moveit2
The MoveIt Motion Planning Framework for ROS 2.
collision_common.cpp
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34 
36 #include <rclcpp/clock.hpp>
37 #include <rclcpp/logger.hpp>
38 #include <rclcpp/logging.hpp>
39 
40 static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_collision_detection.collision_common");
41 constexpr size_t LOG_THROTTLE_PERIOD{ 5 };
42 
43 namespace collision_detection
44 {
46 {
47  rclcpp::Clock clock;
48  if (!contacts.empty())
49  {
50  RCLCPP_WARN_STREAM_THROTTLE(LOGGER, clock, LOG_THROTTLE_PERIOD,
51  "Objects in collision (printing 1st of "
52  << contacts.size() << " pairs): " << contacts.begin()->first.first << ", "
53  << contacts.begin()->first.second);
54 
55  // Log all collisions at the debug level
56  RCLCPP_DEBUG_STREAM_THROTTLE(LOGGER, clock, LOG_THROTTLE_PERIOD, "Objects in collision:");
57  for (const auto& contact : contacts)
58  {
59  RCLCPP_DEBUG_STREAM_THROTTLE(LOGGER, clock, LOG_THROTTLE_PERIOD,
60  "\t" << contact.first.first << ", " << contact.first.second);
61  }
62  }
63 }
64 
65 } // namespace collision_detection
constexpr size_t LOG_THROTTLE_PERIOD
void print() const
Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level...