moveit2
The MoveIt Motion Planning Framework for ROS 2.
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compute_default_collisions.hpp
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34
35/* Author: Dave Coleman */
36
37#pragma once
38
39#include <map>
41namespace planning_scene
42{
43MOVEIT_CLASS_FORWARD(PlanningScene); // Defines PlanningScenePtr, ConstPtr, WeakPtr... etc
44}
45
46namespace moveit_setup
47{
48namespace srdf_setup
49{
63
68{
69 // by default all link pairs are NOT disabled for collision checking
73};
74
78typedef std::map<std::pair<std::string, std::string>, LinkPairData> LinkPairMap;
79
89LinkPairMap computeDefaultCollisions(const planning_scene::PlanningSceneConstPtr& parent_scene, unsigned int* progress,
90 const bool include_never_colliding, const unsigned int trials,
91 const double min_collision_faction, const bool verbose);
92
98void computeLinkPairs(const planning_scene::PlanningScene& scene, LinkPairMap& link_pairs);
99
105const std::string disabledReasonToString(DisabledReason reason);
106
112DisabledReason disabledReasonFromString(const std::string& reason);
113} // namespace srdf_setup
114} // namespace moveit_setup
#define MOVEIT_CLASS_FORWARD(C)
This class maintains the representation of the environment as seen by a planning instance....
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)
Generate an adjacency list of links that are always and never in collision, to speed up collision det...
DisabledReason
Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the lin...
void computeLinkPairs(const planning_scene::PlanningScene &scene, LinkPairMap &link_pairs)
Generate a list of unique link pairs for all links with geometry. Order pairs alphabetically....
DisabledReason disabledReasonFromString(const std::string &reason)
Converts a string reason for disabling a link pair into a struct data type.
const std::string disabledReasonToString(DisabledReason reason)
Converts a reason for disabling a link pair into a string.
std::map< std::pair< std::string, std::string >, LinkPairData > LinkPairMap
LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled l...
This namespace includes the central class for representing planning contexts.