common.h File Reference

This is a collection of common methods. More...

#include <tesseract_common/macros.h>
#include <map>
#include <vector>
#include <Eigen/Geometry>
#include <tesseract_collision/core/types.h>

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Namespaces
namespace	tesseract_collision

Typedefs
using	tesseract_collision::ObjectPairKey = std::pair< std::string, std::string >

Functions
std::vector< ObjectPairKey >	tesseract_collision::getCollisionObjectPairs (const std::vector< std::string > &active_links, const std::vector< std::string > &static_links, const IsContactAllowedFn &acm=nullptr)
	Get a vector of possible collision object pairs. More...
bool	tesseract_collision::isLinkActive (const std::vector< std::string > &active, const std::string &name)
	This will check if a link is active provided a list. If the list is empty the link is considered active. More...
bool	tesseract_collision::isContactAllowed (const std::string &name1, const std::string &name2, const IsContactAllowedFn &acm, bool verbose=false)
	Determine if contact is allowed between two objects. More...
ContactResult *	tesseract_collision::processResult (ContactTestData &cdata, ContactResult &contact, const std::pair< std::string, std::string > &key, bool found)
	processResult Processes the ContactResult based on the information in the ContactTestData More...
void	tesseract_collision::scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &center, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...
void	tesseract_collision::scaleVertices (tesseract_common::VectorVector3d &vertices, const Eigen::Vector3d &scale)
	Apply scaling to the geometry coordinates. More...
bool	tesseract_collision::writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const std::vector< Eigen::Vector3i > &vectices_color, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...
bool	tesseract_collision::writeSimplePlyFile (const std::string &path, const tesseract_common::VectorVector3d &vertices, const Eigen::VectorXi &faces, int num_faces)
	Write a simple ply file given vertices and faces. More...
int	tesseract_collision::loadSimplePlyFile (const std::string &path, tesseract_common::VectorVector3d &vertices, Eigen::VectorXi &faces, bool triangles_only=false)
	Loads a simple ply file given a path. More...

Detailed Description

This is a collection of common methods.

Author

Levi Armstrong

Date

Dec 18, 2017

Version

TODO

Bug:

No known bugs

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.