d9/d71/tesseract__environment_2include_2tesseract__environment_2utils_8h_source.html

#ifndef TESSERACT_ENVIRONMENT_CORE_UTILS_H

#define TESSERACT_ENVIRONMENT_CORE_UTILS_H


#include <tesseract_scene_graph/graph.h>

#include <tesseract_scene_graph/scene_state.h>

#include <tesseract_collision/core/continuous_contact_manager.h>

#include <tesseract_collision/core/discrete_contact_manager.h>

#include <tesseract_collision/core/types.h>

#include <tesseract_environment/environment.h>


namespace tesseract_environment

{

void getActiveLinkNamesRecursive(std::vector<std::string>& active_links,

                                 const tesseract_scene_graph::SceneGraph& scene_graph,

                                 const std::string& current_link,

                                 bool active);


void checkTrajectorySegment(tesseract_collision::ContactResultMap& contact_results,

                            tesseract_collision::ContinuousContactManager& manager,

                            const tesseract_common::TransformMap& state0,

                            const tesseract_common::TransformMap& state1,

                            const tesseract_collision::CollisionCheckConfig& config);


void checkTrajectorySegment(tesseract_collision::ContactResultMap& contact_results,

                            tesseract_collision::ContinuousContactManager& manager,

                            const tesseract_common::TransformMap& state0,

                            const tesseract_common::TransformMap& state1,

                            const tesseract_collision::ContactRequest& contact_request);


void checkTrajectoryState(tesseract_collision::ContactResultMap& contact_results,

                          tesseract_collision::DiscreteContactManager& manager,

                          const tesseract_common::TransformMap& state,

                          const tesseract_collision::CollisionCheckConfig& config);


void checkTrajectoryState(tesseract_collision::ContactResultMap& contact_results,

                          tesseract_collision::DiscreteContactManager& manager,

                          const tesseract_common::TransformMap& state,

                          const tesseract_collision::ContactRequest& contact_request);


bool checkTrajectory(std::vector<tesseract_collision::ContactResultMap>& contacts,

                     tesseract_collision::ContinuousContactManager& manager,

                     const tesseract_scene_graph::StateSolver& state_solver,

                     const std::vector<std::string>& joint_names,

                     const tesseract_common::TrajArray& traj,

                     const tesseract_collision::CollisionCheckConfig& config);


bool checkTrajectory(std::vector<tesseract_collision::ContactResultMap>& contacts,

                     tesseract_collision::ContinuousContactManager& manager,

                     const tesseract_kinematics::JointGroup& manip,

                     const tesseract_common::TrajArray& traj,

                     const tesseract_collision::CollisionCheckConfig& config);


bool checkTrajectory(std::vector<tesseract_collision::ContactResultMap>& contacts,

                     tesseract_collision::DiscreteContactManager& manager,

                     const tesseract_scene_graph::StateSolver& state_solver,

                     const std::vector<std::string>& joint_names,

                     const tesseract_common::TrajArray& traj,

                     const tesseract_collision::CollisionCheckConfig& config);


bool checkTrajectory(std::vector<tesseract_collision::ContactResultMap>& contacts,

                     tesseract_collision::DiscreteContactManager& manager,

                     const tesseract_kinematics::JointGroup& manip,

                     const tesseract_common::TrajArray& traj,

                     const tesseract_collision::CollisionCheckConfig& config);


}  // namespace tesseract_environment

#endif  // TESSERACT_ENVIRONMENT_CORE_UTILS_H

tesseract_collision::ContactResultMap
This structure hold contact results for link pairs.
Definition: types.h:154

tesseract_collision::ContinuousContactManager
Definition: continuous_contact_manager.h:41

tesseract_collision::DiscreteContactManager
Definition: discrete_contact_manager.h:41

tesseract_kinematics::JointGroup
A Joint Group is defined by a list of joint_names.
Definition: joint_group.h:43

tesseract_scene_graph::SceneGraph
Definition: graph.h:125

tesseract_scene_graph::StateSolver
Definition: state_solver.h:46

config
tesseract_collision::CollisionCheckConfig config(5, request, tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE, 0.5)
Definition: tesseract_common_serialization_unit.cpp:154

continuous_contact_manager.h
This is the continuous contact manager base class.

discrete_contact_manager.h
This is the discrete contact manager base class.

environment.h

graph.h
A basic scene graph using boost.

scene_graph
auto scene_graph
Definition: ikfast_kinematics_7dof_unit.cpp:51

tesseract_common::TrajArray
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > TrajArray
Definition: types.h:69

tesseract_common::TransformMap
AlignedMap< std::string, Eigen::Isometry3d > TransformMap
Definition: types.h:66

tesseract_environment
Definition: command.h:39

tesseract_environment::checkTrajectory
bool checkTrajectory(std::vector< tesseract_collision::ContactResultMap > &contacts, tesseract_collision::ContinuousContactManager &manager, const tesseract_scene_graph::StateSolver &state_solver, const std::vector< std::string > &joint_names, const tesseract_common::TrajArray &traj, const tesseract_collision::CollisionCheckConfig &config)
Should perform a continuous collision check over the trajectory and stop on first collision.
Definition: utils.cpp:138

tesseract_environment::checkTrajectoryState
void checkTrajectoryState(tesseract_collision::ContactResultMap &contact_results, tesseract_collision::DiscreteContactManager &manager, const tesseract_common::TransformMap &state, const tesseract_collision::CollisionCheckConfig &config)
Should perform a discrete collision check a state first configuring manager with config.
Definition: utils.cpp:103

tesseract_environment::getActiveLinkNamesRecursive
void getActiveLinkNamesRecursive(std::vector< std::string > &active_links, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &current_link, bool active)
Get the active Link Names Recursively.
Definition: utils.cpp:43

tesseract_environment::checkTrajectorySegment
void checkTrajectorySegment(tesseract_collision::ContactResultMap &contact_results, tesseract_collision::ContinuousContactManager &manager, const tesseract_common::TransformMap &state0, const tesseract_common::TransformMap &state1, const tesseract_collision::CollisionCheckConfig &config)
Should perform a continuous collision check between two states configuring the manager with the confi...
Definition: utils.cpp:66

scene_state.h
This holds a state of the scene.

tesseract_collision::CollisionCheckConfig
This is a high level structure containing common information that collision checking utilities need....
Definition: types.h:418

tesseract_collision::ContactRequest
The ContactRequest struct.
Definition: types.h:294

types.h
Tesseracts Collision Common Types.

joint_names
joint_state joint_names
Definition: tesseract_common_serialization_unit.cpp:75

active_links
std::vector< std::string > active_links
Definition: tesseract_environment_collision.cpp:112

manager
DiscreteContactManager::Ptr manager
Definition: tesseract_environment_collision.cpp:109

contacts
tesseract_collision::ContactResultMap contacts
Definition: tesseract_environment_utils.cpp:132