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The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
moveit_setup::srdf_setup::DefaultCollisions Class Reference

#include <default_collisions.hpp>

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Public Member Functions

std::string getName () const override
 Returns the name of the setup step. More...
 
std::vector< std::string > getCollidingLinks ()
 
void linkPairsToSRDF ()
 Output Link Pairs to SRDF Format. More...
 
void linkPairsToSRDFSorted (size_t skip_mask=0)
 Output Link Pairs to SRDF Format; sorted; with optional filter. More...
 
void linkPairsFromSRDF ()
 Load Link Pairs from SRDF Format. More...
 
LinkPairMapgetLinkPairs ()
 
void startGenerationThread (unsigned int num_trials, double min_frac, bool verbose=true)
 
void cancelGenerationThread ()
 
void joinGenerationThread ()
 
int getThreadProgress () const
 
- Public Member Functions inherited from moveit_setup::srdf_setup::SRDFStep
void onInit () override
 Overridable initialization method. More...
 
bool isReady () const override
 Return true if the data necessary to proceed with this step has been configured. More...
 
bool hasGroups () const
 
- Public Member Functions inherited from moveit_setup::SetupStep
 SetupStep ()=default
 
 SetupStep (const SetupStep &)=default
 
 SetupStep (SetupStep &&)=default
 
SetupStepoperator= (const SetupStep &)=default
 
SetupStepoperator= (SetupStep &&)=default
 
virtual ~SetupStep ()=default
 
void initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
 Called after construction to initialize the step. More...
 
const rclcpp::Logger & getLogger () const
 Makes a namespaced logger for this step available to the widget. More...
 

Protected Member Functions

void generateCollisionTable (unsigned int num_trials, double min_frac, bool verbose)
 

Protected Attributes

LinkPairMap link_pairs_
 main storage of link pair data More...
 
boost::thread worker_
 
unsigned int progress_
 
- Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfigsrdf_config_
 
- Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr config_data_
 
rclcpp::Node::SharedPtr parent_node_
 
std::shared_ptr< rclcpp::Logger > logger_
 

Detailed Description

Definition at line 56 of file default_collisions.hpp.

Member Function Documentation

◆ cancelGenerationThread()

void moveit_setup::srdf_setup::DefaultCollisions::cancelGenerationThread ( )

Definition at line 175 of file default_collisions.cpp.

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◆ generateCollisionTable()

void moveit_setup::srdf_setup::DefaultCollisions::generateCollisionTable ( unsigned int  num_trials,
double  min_frac,
bool  verbose 
)
protected

Definition at line 158 of file default_collisions.cpp.

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◆ getCollidingLinks()

std::vector< std::string > moveit_setup::srdf_setup::DefaultCollisions::getCollidingLinks ( )

Definition at line 43 of file default_collisions.cpp.

◆ getLinkPairs()

LinkPairMap& moveit_setup::srdf_setup::DefaultCollisions::getLinkPairs ( )
inline

Definition at line 82 of file default_collisions.hpp.

◆ getName()

std::string moveit_setup::srdf_setup::DefaultCollisions::getName ( ) const
inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 59 of file default_collisions.hpp.

◆ getThreadProgress()

int moveit_setup::srdf_setup::DefaultCollisions::getThreadProgress ( ) const

Definition at line 185 of file default_collisions.cpp.

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◆ joinGenerationThread()

void moveit_setup::srdf_setup::DefaultCollisions::joinGenerationThread ( )

Definition at line 180 of file default_collisions.cpp.

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◆ linkPairsFromSRDF()

void moveit_setup::srdf_setup::DefaultCollisions::linkPairsFromSRDF ( )

Load Link Pairs from SRDF Format.

Definition at line 113 of file default_collisions.cpp.

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◆ linkPairsToSRDF()

void moveit_setup::srdf_setup::DefaultCollisions::linkPairsToSRDF ( )

Output Link Pairs to SRDF Format.

Definition at line 50 of file default_collisions.cpp.

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◆ linkPairsToSRDFSorted()

void moveit_setup::srdf_setup::DefaultCollisions::linkPairsToSRDFSorted ( size_t  skip_mask = 0)

Output Link Pairs to SRDF Format; sorted; with optional filter.

Parameters
skip_maskmask of shifted DisabledReason values that will be skipped

Definition at line 74 of file default_collisions.cpp.

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◆ startGenerationThread()

void moveit_setup::srdf_setup::DefaultCollisions::startGenerationThread ( unsigned int  num_trials,
double  min_frac,
bool  verbose = true 
)

Definition at line 146 of file default_collisions.cpp.

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Member Data Documentation

◆ link_pairs_

LinkPairMap moveit_setup::srdf_setup::DefaultCollisions::link_pairs_
protected

main storage of link pair data

Definition at line 97 of file default_collisions.hpp.

◆ progress_

unsigned int moveit_setup::srdf_setup::DefaultCollisions::progress_
protected

Definition at line 101 of file default_collisions.hpp.

◆ worker_

boost::thread moveit_setup::srdf_setup::DefaultCollisions::worker_
protected

Definition at line 100 of file default_collisions.hpp.


The documentation for this class was generated from the following files: