set_collision_rule.hpp File Reference

#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <behaviortree_cpp/bt_factory.h>
#include <moveit_msgs/msg/allowed_collision_matrix.hpp>
#include <moveit_msgs/msg/planning_scene.hpp>
#include <moveit_pro_behavior/utils/planning_scene_bridge.hpp>
#include <moveit_pro_behavior_interface/async_behavior_base.hpp>
#include <tl_expected/expected.hpp>

Include dependency graph for set_collision_rule.hpp:

This graph shows which files directly or indirectly include this file:

Classes
class	moveit_pro::behaviors::SetCollisionRule
	Allows or forbids collisions between two entities in the planning scene's Allowed Collision Matrix, without an MTC task. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::base
namespace	moveit_pro::behaviors

Functions
tl::expected< std::vector< std::string >, std::string >	moveit_pro::behaviors::resolveCollisionEntity (const moveit_pro::base::RobotModel &robot_model, const moveit_msgs::msg::PlanningScene &scene, 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.