moveit2
The MoveIt Motion Planning Framework for ROS 2.
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compute_default_collisions.hpp File Reference
#include <map>
#include <moveit/macros/class_forward.h>
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Classes

struct  moveit_setup::srdf_setup::LinkPairData
 Store details on a pair of links. More...
 

Namespaces

namespace  planning_scene
 This namespace includes the central class for representing planning contexts.
 
namespace  moveit_setup
 
namespace  moveit_setup::srdf_setup
 

Typedefs

typedef std::map< std::pair< std::string, std::string >, LinkPairDatamoveit_setup::srdf_setup::LinkPairMap
 LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.
 

Enumerations

enum  moveit_setup::srdf_setup::DisabledReason {
  moveit_setup::srdf_setup::NEVER , moveit_setup::srdf_setup::DEFAULT , moveit_setup::srdf_setup::ADJACENT , moveit_setup::srdf_setup::ALWAYS ,
  moveit_setup::srdf_setup::USER , moveit_setup::srdf_setup::NOT_DISABLED
}
 Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking. More...
 

Functions

 planning_scene::MOVEIT_CLASS_FORWARD (PlanningScene)
 
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.
 
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.
 
const std::string moveit_setup::srdf_setup::disabledReasonToString (DisabledReason reason)
 Converts a reason for disabling a link pair into a string.
 
DisabledReason moveit_setup::srdf_setup::disabledReasonFromString (const std::string &reason)
 Converts a string reason for disabling a link pair into a struct data type.