moveit_setup::srdf_setup::DefaultCollisions Class Reference

#include <default_collisions.hpp>

Inheritance diagram for moveit_setup::srdf_setup::DefaultCollisions:

Collaboration diagram for moveit_setup::srdf_setup::DefaultCollisions:

Public Member Functions
std::string	getName () const override
	Returns the name of the setup step.
std::vector< std::string >	getCollidingLinks ()
void	linkPairsToSRDF ()
	Output Link Pairs to SRDF Format.
void	linkPairsToSRDFSorted (size_t skip_mask=0)
	Output Link Pairs to SRDF Format; sorted; with optional filter.
void	linkPairsFromSRDF ()
	Load Link Pairs from SRDF Format.
LinkPairMap &	getLinkPairs ()
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.
bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.
bool	hasGroups () const
Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default
	SetupStep (const SetupStep &)=default
	SetupStep (SetupStep &&)=default
SetupStep &	operator= (const SetupStep &)=default
SetupStep &	operator= (SetupStep &&)=default
virtual	~SetupStep ()=default
void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step.
const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget.

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
boost::thread	worker_
unsigned int	progress_
Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfig >	srdf_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_mask

mask 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.

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

• moveit_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/default_collisions.hpp
• moveit_setup_assistant/moveit_setup_srdf_plugins/src/default_collisions.cpp