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compute_default_collisions.cpp File Reference
#include <moveit/planning_scene/planning_scene.h>
#include <moveit_setup_srdf_plugins/compute_default_collisions.hpp>
#include <boost/math/special_functions/binomial.hpp>
#include <boost/thread.hpp>
#include <boost/assign.hpp>
#include <unordered_map>
#include <moveit/utils/logger.hpp>
Include dependency graph for compute_default_collisions.cpp:

Go to the source code of this file.


struct  moveit_setup::srdf_setup::ThreadComputation




typedef std::set< std::pair< std::string, std::string > > moveit_setup::srdf_setup::StringPairSet
typedef std::map< const moveit::core::LinkModel *, std::set< const moveit::core::LinkModel * > > moveit_setup::srdf_setup::LinkGraph


LinkPairMap moveit_setup::srdf_setup::computeDefaultCollisions (const planning_scene::PlanningSceneConstPtr &parent_scene, unsigned int *progress, const bool include_never_colliding, const unsigned int trials, const double min_collision_faction, const bool verbose)
 Generate an adjacency list of links that are always and never in collision, to speed up collision detection. More...
void moveit_setup::srdf_setup::computeLinkPairs (const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs)
 Generate a list of unique link pairs for all links with geometry. Order pairs alphabetically. n choose 2 pairs. More...
const std::string moveit_setup::srdf_setup::disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string. More...
DisabledReason moveit_setup::srdf_setup::disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type. More...


const std::unordered_map< DisabledReason, std::string > moveit_setup::srdf_setup::REASONS_TO_STRING
const std::unordered_map< std::string, DisabledReason > moveit_setup::srdf_setup::REASONS_FROM_STRING