fix_collision_objects.h

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/* Authors: Elham Iravani, Robert Haschke
   Desc:    Fix collisions in input scene
*/
 
#pragma once
 
#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/stage.h>
#include <geometry_msgs/Vector3.h>
#include <moveit/collision_detection/collision_common.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class FixCollisionObjects : public PropagatingEitherWay
{
public:
    FixCollisionObjects(const std::string& name = "fix collisions of objects");
 
    void computeForward(const InterfaceState& from) override;
    void computeBackward(const InterfaceState& to) override;
 
    void setDirection(const geometry_msgs::Vector3& dir) { setProperty("direction", dir); }
    void setMaxPenetration(double penetration) { setProperty("max_penetration", penetration); }
 
private:
    SubTrajectory fixCollisions(planning_scene::PlanningScene& scene) const;
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit