compute_default_collisions.hpp

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/* Author: Dave Coleman */
 
#pragma once
 
#include <map>
#include <moveit/macros/class_forward.h>
namespace planning_scene
{
MOVEIT_CLASS_FORWARD(PlanningScene);  // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
}
 
namespace moveit_setup
{
namespace srdf_setup
{
enum DisabledReason
{
  NEVER,
  DEFAULT,
  ADJACENT,
  ALWAYS,
  USER,
  NOT_DISABLED
};
 
struct LinkPairData
{
  // by default all link pairs are NOT disabled for collision checking
  LinkPairData() : reason(NOT_DISABLED), disable_check(false){};
  DisabledReason reason;
  bool disable_check;
};
 
typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;
 
LinkPairMap 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);
 
void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);
 
const std::string disabledReasonToString(DisabledReason reason);
 
DisabledReason disabledReasonFromString(const std::string& reason);
}  // namespace srdf_setup
}  // namespace moveit_setup