collision_helper.cpp
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2 #include <moveit/collision_detection/collision_common.h>
3 #include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
4 
5 bool Collision_helper::collision_detector(const std::string& object1_name, const std::string& object2_name){
6  for (std::map<std::string, collision_detection::FCLObject>::const_iterator it = fcl_objs_.begin(); it != fcl_objs_.end(); ++it){
7  std::string obj = it->first;
8  ROS_INFO("object %s", obj.c_str());
9  }
10  /*
11  auto objA = fcl_objs_.at(object1_name);
12  auto objB = fcl_objs_.at(object2_name);
13 
14 
15 
16  auto manager1 = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();
17  auto manager2 = std::make_unique<fcl::DynamicAABBTreeCollisionManagerd>();
18 
19  objA.registerTo(manager1.get());
20  objB.registerTo(manager2.get());
21 
22  // Perform collision detection
23  collision_detection::CollisionRequest req;
24  collision_detection::CollisionResult res;
25  collision_detection::CollisionData cd;
26  cd.req_ = &req;
27  cd.res_ = &res;
28  manager1->collide(manager2.get(), &cd, &collision_detection::collisionCallback);
29  */
30  //ROS_INFO("läuft %i", fcl_objs_.size());
31  return true;
32 }
Collision_helper::collision_detector
bool collision_detector(const std::string &object1_name, const std::string &object2_name)
Definition: collision_helper.cpp:5
collision_helper.h


multi_cell_builder
Author(s): MA
autogenerated on Thu Jan 12 2023 23:45:43