set_collision_rule.cpp File Reference

#include <moveit_pro_behavior/behaviors/core/set_collision_rule.hpp>
#include <algorithm>
#include <cstddef>
#include <utility>
#include <fmt/format.h>
#include <moveit_msgs/msg/planning_scene_components.hpp>
#include <moveit_pro_base/collision_detection/collision_matrix.hpp>
#include <moveit_pro_base/robot_model/joint_model_group.hpp>
#include <moveit_pro_base/robot_model/robot_model.hpp>
#include <moveit_pro_behavior_interface/get_required_ports.hpp>
#include <moveit_pro_behavior_interface/metadata_fields.hpp>
#include <moveit_pro_macros/macros.hpp>

Include dependency graph for set_collision_rule.cpp:

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Functions
bool	moveit_pro::behaviors::collisionObjectInScene (const moveit_msgs::msg::PlanningScene &scene, std::string_view name)
	Whether a name appears as a collision object id in the given planning scene message.
tl::expected< std::vector< std::string >, std::string >	moveit_pro::behaviors::resolveCollisionEntity (const moveit_pro::base::RobotModel &robot_model, const std::function< bool(std::string_view)> &is_collision_object, std::string_view name)
	Resolve a user-supplied name to the Allowed Collision Matrix entity name(s) it refers to.
tl::expected< moveit_msgs::msg::AllowedCollisionMatrix, std::string >	moveit_pro::behaviors::buildUpdatedAcm (const moveit_pro::base::RobotModel &robot_model, const moveit_msgs::msg::PlanningScene &scene, std::string_view name_a, std::string_view name_b, bool allow_collision)
	Apply a collision rule to the Allowed Collision Matrix read from a planning scene.