default_collisions.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_setup_srdf_plugins/compute_default_collisions.hpp>
#include <boost/thread/thread.hpp>
 
// less operation for two CollisionPairs
struct CollisionPairLess
{
  bool operator()(const srdf::Model::CollisionPair& left, const srdf::Model::CollisionPair& right) const
  {
    // use std::pair's operator<: (left.link1_, left.link2_) < (right.link1_, right.link2_)
    return left.link1_ < right.link1_ || (!(right.link1_ < left.link1_) && left.link2_ < right.link2_);
  }
};
 
namespace moveit_setup
{
namespace srdf_setup
{
class DefaultCollisions : public SRDFStep
{
public:
  std::string getName() const override
  {
    return "Self-Collisions";
  }
 
  std::vector<std::string> getCollidingLinks();
 
  void linkPairsToSRDF();
 
  void linkPairsToSRDFSorted(size_t skip_mask = 0);
 
  void linkPairsFromSRDF();
 
  LinkPairMap& getLinkPairs()
  {
    return link_pairs_;
  }
 
  // For Threaded Operations
  void startGenerationThread(unsigned int num_trials, double min_frac, bool verbose = true);
  void cancelGenerationThread();
  void joinGenerationThread();
  int getThreadProgress() const;
 
protected:
  void generateCollisionTable(unsigned int num_trials, double min_frac, bool verbose);
 
  LinkPairMap link_pairs_;
 
  // For threaded operations
  boost::thread worker_;
  unsigned int progress_;
};
}  // namespace srdf_setup
}  // namespace moveit_setup