utils.h File Reference

Tesseract Collision utils. More...

#include <tesseract/collision/types.h>
#include <tesseract/collision/contact_result_validator.h>
#include <tesseract/common/contact_allowed_validator.h>

Functions
tesseract::common::ContactAllowedValidator::ConstPtr	tesseract::collision::combineContactAllowedValidators (tesseract::common::ContactAllowedValidator::ConstPtr original, tesseract::common::ContactAllowedValidator::ConstPtr override, ACMOverrideType type=ACMOverrideType::OR)
	Combines two ContactAllowedValidator using the override type.
template<typename ManagerType >
void	tesseract::collision::applyContactAllowedValidatorOverride (ManagerType &manager, const tesseract::common::AllowedCollisionMatrix &acm, ACMOverrideType type)
	Applies ACM to contact manager using override type.
template<typename ManagerType >
void	tesseract::collision::applyModifyObjectEnabled (ManagerType &manager, const std::unordered_map< std::string, bool > &modify_object_enabled)
	Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable)

Detailed Description

Tesseract Collision utils.

Author

Levi Armstrong

Matthew Powelson

Date

December 1, 2021

License

Software License Agreement (Apache License)

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, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

combineContactAllowedValidators()

tesseract::common::ContactAllowedValidator::ConstPtr tesseract::collision::combineContactAllowedValidators	(	tesseract::common::ContactAllowedValidator::ConstPtr	original,
		tesseract::common::ContactAllowedValidator::ConstPtr	override,
		ACMOverrideType	type = ACMOverrideType::OR
	)

Combines two ContactAllowedValidator using the override type.

Parameters

original	Original ContactAllowedValidator. This will be returned if ACMOverrideType is None
override	Overriding ContactAllowedValidator. This will be returned if ACMOverrideType is ASSIGN
type	Override type used to combine the ContactAllowedValidator

Returns

One ContactAllowedValidator that combines the two

applyContactAllowedValidatorOverride()

template<typename ManagerType >

void tesseract::collision::applyContactAllowedValidatorOverride ( ManagerType &  manager, const tesseract::common::AllowedCollisionMatrix &  acm, ACMOverrideType  type  )

inline

Applies ACM to contact manager using override type.

Parameters

manager	Manager whose ContactAllowedValidator will be overwritten
acm	ACM used to create ContactAllowedValidator
type	Determines how the two ContactAllowedValidator are combined

applyModifyObjectEnabled()

template<typename ManagerType >

void tesseract::collision::applyModifyObjectEnabled ( ManagerType &  manager, const std::unordered_map< std::string, bool > &  modify_object_enabled  )

inline

Loops over the map and for every object string either enables or disables it based on the value (true=enable, false=disable)

Parameters

manager	Manager that will be modified
modify_object_enabled	Map of [key]:value = [object name]:disable or enable