dd/d02/tesseract__srdf_2include_2tesseract__srdf_2utils_8h_source.html

#ifndef TESSERACT_SRDF_UTILS_H

#define TESSERACT_SRDF_UTILS_H


#include <functional>

#include <tesseract_common/allowed_collision_matrix.h>

#include <tesseract_common/types.h>

#include <tesseract_scene_graph/graph.h>

#include <tesseract_srdf/srdf_model.h>


namespace tesseract_srdf

{

void processSRDFAllowedCollisions(tesseract_scene_graph::SceneGraph& scene_graph, const SRDFModel& srdf_model);


bool compareLinkPairAlphabetically(std::reference_wrapper<const tesseract_common::LinkNamesPair> pair1,

                                   std::reference_wrapper<const tesseract_common::LinkNamesPair> pair2);


std::vector<std::reference_wrapper<const tesseract_common::LinkNamesPair>>

getAlphabeticalACMKeys(const tesseract_common::AllowedCollisionEntries& allowed_collision_entries);

}  // namespace tesseract_srdf

#endif  // TESSERACT_SRDF_UTILS_H

allowed_collision_matrix.h

tesseract_scene_graph::SceneGraph
Definition: graph.h:125

graph.h
A basic scene graph using boost.

scene_graph
auto scene_graph
Definition: ikfast_kinematics_7dof_unit.cpp:51

tesseract_common::AllowedCollisionEntries
std::unordered_map< tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash > AllowedCollisionEntries
Definition: allowed_collision_matrix.h:18

tesseract_srdf
Main namespace.
Definition: collision_margins.h:49

tesseract_srdf::getAlphabeticalACMKeys
std::vector< std::reference_wrapper< const tesseract_common::LinkNamesPair > > getAlphabeticalACMKeys(const tesseract_common::AllowedCollisionEntries &allowed_collision_entries)
Returns an alphabetically sorted vector of ACM keys (the link pairs)
Definition: utils.cpp:50

tesseract_srdf::compareLinkPairAlphabetically
bool compareLinkPairAlphabetically(std::reference_wrapper< const tesseract_common::LinkNamesPair > pair1, std::reference_wrapper< const tesseract_common::LinkNamesPair > pair2)
Used to sort a pair of strings alphabetically - first by the pair.first and then by pair....
Definition: utils.cpp:36

tesseract_srdf::processSRDFAllowedCollisions
void processSRDFAllowedCollisions(tesseract_scene_graph::SceneGraph &scene_graph, const SRDFModel &srdf_model)
Add allowed collisions to the scene graph.
Definition: utils.cpp:30

srdf_model.h
Parse srdf xml.

types.h
Common Tesseract Types.

srdf_model
tesseract_srdf::SRDFModel srdf_model
Definition: tesseract_srdf_unit.cpp:852