utils.h File Reference

Tesseract SRDF utility functions. More...

#include <functional>
#include <tesseract/common/types.h>
#include <tesseract/common/allowed_collision_matrix.h>
#include <tesseract/scene_graph/fwd.h>

Namespaces
namespace	tesseract::srdf
	Main namespace.

Functions
void	tesseract::srdf::processSRDFAllowedCollisions (tesseract::scene_graph::SceneGraph &scene_graph, const SRDFModel &srdf_model)
	Add allowed collisions to the scene graph.
bool	tesseract::srdf::compareLinkPairAlphabetically (std::reference_wrapper< const tesseract::common::LinkIdPair > pair1, std::reference_wrapper< const tesseract::common::LinkIdPair > pair2)
	Used to sort a pair of link ids alphabetically by name - first by the alphabetically smaller name of each pair and then by the larger.
std::vector< std::reference_wrapper< const tesseract::common::LinkIdPair > >	tesseract::srdf::getAlphabeticalACMKeys (const tesseract::common::AllowedCollisionEntries &allowed_collision_entries)
	Returns an alphabetically sorted vector of ACM keys (the link pairs)

Detailed Description

Tesseract SRDF utility functions.

Author

Levi Armstrong

Date

Dec 18, 2017

Copyright

Copyright (c) 2017, Southwest Research Institute

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.