contact_checker_common.h

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 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2017, Southwest Research Institute
 * All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
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/* Author: Levi Armstrong */
 
#pragma once
 
#include <LinearMath/btConvexHullComputer.h>
#include <cstdio>
#include <Eigen/Geometry>
#include <fstream>
 
#include <moveit/collision_detection_bullet/bullet_integration/basic_types.h>
#include <moveit/collision_detection/collision_common.h>
#include <moveit/collision_detection/collision_matrix.h>
 
namespace collision_detection_bullet
{
inline std::pair<std::string, std::string> getObjectPairKey(const std::string& obj1, const std::string& obj2)
{
  return obj1 < obj2 ? std::make_pair(obj1, obj2) : std::make_pair(obj2, obj1);
}
 
inline bool isLinkActive(const std::vector<std::string>& active, const std::string& name)
{
  return active.empty() || (std::find(active.begin(), active.end(), name) != active.end());
}
 
collision_detection::Contact* processResult(ContactTestData& cdata, collision_detection::Contact& contact,
                                            const std::pair<std::string, std::string>& key, bool found);
 
int createConvexHull(AlignedVector<Eigen::Vector3d>& vertices, std::vector<int>& faces,
                     const AlignedVector<Eigen::Vector3d>& input, double shrink = -1, double shrinkClamp = -1);
 
}  // namespace collision_detection_bullet