collision_tools.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/collision_detection/collision_common.h>
#include <moveit_msgs/msg/cost_source.hpp>
#include <moveit_msgs/msg/contact_information.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
 
#include <rclcpp/rclcpp.hpp>
#include <rcl/time.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/time.hpp>
 
namespace collision_detection
{
void getCollisionMarkersFromContacts(visualization_msgs::msg::MarkerArray& arr, const std::string& frame_id,
                                     const CollisionResult::ContactMap& con, const std_msgs::msg::ColorRGBA& color,
                                     const rclcpp::Duration& lifetime, const double radius = 0.035);
 
void getCollisionMarkersFromContacts(visualization_msgs::msg::MarkerArray& arr, const std::string& frame_id,
                                     const CollisionResult::ContactMap& con);
 
void getCostMarkers(visualization_msgs::msg::MarkerArray& arr, const std::string& frame_id,
                    std::set<CostSource>& cost_sources);
 
void getCostMarkers(visualization_msgs::msg::MarkerArray& arr, const std::string& frame_id,
                    std::set<CostSource>& cost_sources, const std_msgs::msg::ColorRGBA& color,
                    const rclcpp::Duration& lifetime);
 
double getTotalCost(const std::set<CostSource>& cost_sources);
 
void removeCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& cost_sources_to_remove,
                       double overlap_fraction);
void intersectCostSources(std::set<CostSource>& cost_sources, const std::set<CostSource>& a,
                          const std::set<CostSource>& b);
void removeOverlapping(std::set<CostSource>& cost_sources, double overlap_fraction);
 
bool getSensorPositioning(geometry_msgs::msg::Point& point, const std::set<CostSource>& cost_sources);
 
void costSourceToMsg(const CostSource& cost_source, moveit_msgs::msg::CostSource& msg);
void contactToMsg(const Contact& contact, moveit_msgs::msg::ContactInformation& msg);
}  // namespace collision_detection