Classes
class	CollisionLinearModel

class	CollisionMatrixModel

struct	CycleDetector

class	DefaultCollisions

class	DefaultCollisionsWidget
	User interface for editing the default collision matrix list in an SRDF. More...

class	EndEffectors

class	EndEffectorsWidget

class	GroupEditWidget

class	GroupMetaConfig

struct	GroupMetaData

class	KinematicChainWidget

class	LinkNameTree

struct	LinkPairData
	Store details on a pair of links. More...

class	MonitorThread
	QThread to monitor progress of the setup step. More...

class	PassiveJoints

class	PassiveJointsWidget

class	PlanGroupType

class	PlanningGroups

class	PlanningGroupsWidget

class	RobotPoses

class	RobotPosesWidget

class	RotatedHeaderView

class	SliderWidget

class	SortFilterProxyModel

class	SRDFStep
	Setup Step that contains the SRDFConfig. More...

class	SuperSRDFStep
	This class provides a number of standard operations based on srdf's vector members. More...

struct	ThreadComputation

class	VirtualJoints

class	VirtualJointsWidget

Typedefs
typedef 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 links.

typedef std::set< std::pair< std::string, std::string > >	StringPairSet

typedef std::map< const moveit::core::LinkModel , std::set< const moveit::core::LinkModel > >	LinkGraph

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

enum	GroupType { JOINT = 1 , LINK = 2 , CHAIN = 3 , SUBGROUP = 4 , GROUP = 5 }

Functions
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 detection.

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. n choose 2 pairs.

const std::string	disabledReasonToString (DisabledReason reason)
	Converts a reason for disabling a link pair into a string.

DisabledReason	disabledReasonFromString (const std::string &reason)
	Converts a string reason for disabling a link pair into a struct data type.

LinkNameTree	buildLinkNameTree (const moveit::core::LinkModel *link)

bool	compareVariants (const QVariant &left, const QVariant &right)

Variables
const std::unordered_map< DisabledReason, std::string >	REASONS_TO_STRING

const std::unordered_map< std::string, DisabledReason >	REASONS_FROM_STRING

Typedef Documentation

◆ LinkGraph

typedef std::map<std::pair<std::string, std::string>, LinkPairData> moveit_setup::srdf_setup::LinkPairMap

LinkPairMap is an adjacency list structure containing links in string-based form. Used for disabled links.

typedef std::set<std::pair<std::string, std::string> > moveit_setup::srdf_setup::StringPairSet

Reasons for disabling link pairs. Append "in collision" for understanding. NOT_DISABLED means the link pair DOES do self collision checking.

Definition at line 60 of file planning_groups_widget.hpp.

LinkNameTree moveit_setup::srdf_setup::buildLinkNameTree ( const moveit::core::LinkModel * link )

inline

Definition at line 54 of file planning_groups.hpp.

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bool moveit_setup::srdf_setup::compareVariants	(	const QVariant &	left,
		const QVariant &	right
	)

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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.

Parameters

parent_scene	A reference to the robot in the planning scene
include_never_colliding	Flag to disable the check for links that are never in collision
trials	Set the number random collision checks that are made. Increase the probability of correctness
min_collision_fraction	If collisions are found between a pair of links >= this fraction, the are assumed "always" in collision