Representation of a collision checking request. More...
#include <collision_common.h>
Public Member Functions | |
CollisionRequest () | |
virtual | ~CollisionRequest () |
Public Attributes | |
bool | contacts |
If true, compute contacts. | |
bool | cost |
If true, a collision cost is computed. | |
bool | distance |
If true, compute proximity distance. | |
std::string | group_name |
The group name to check collisions for (optional; if empty, assume the complete robot) | |
boost::function< bool(const CollisionResult &)> | is_done |
Function call that decides whether collision detection should stop. | |
std::size_t | max_contacts |
Overall maximum number of contacts to compute. | |
std::size_t | max_contacts_per_pair |
Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations) | |
std::size_t | max_cost_sources |
When costs are computed, this value defines how many of the top cost sources should be returned. | |
double | min_cost_density |
When costs are computed, this is the minimum cost density for a CostSource to be included in the results. | |
bool | verbose |
Flag indicating whether information about detected collisions should be reported. |
Representation of a collision checking request.
Definition at line 172 of file include/moveit/collision_detection/collision_common.h.
Definition at line 174 of file include/moveit/collision_detection/collision_common.h.
virtual collision_detection::CollisionRequest::~CollisionRequest | ( | ) | [inline, virtual] |
Definition at line 184 of file include/moveit/collision_detection/collision_common.h.
If true, compute contacts.
Definition at line 196 of file include/moveit/collision_detection/collision_common.h.
If true, a collision cost is computed.
Definition at line 193 of file include/moveit/collision_detection/collision_common.h.
If true, compute proximity distance.
Definition at line 190 of file include/moveit/collision_detection/collision_common.h.
The group name to check collisions for (optional; if empty, assume the complete robot)
Definition at line 187 of file include/moveit/collision_detection/collision_common.h.
boost::function<bool(const CollisionResult&)> collision_detection::CollisionRequest::is_done |
Function call that decides whether collision detection should stop.
Definition at line 212 of file include/moveit/collision_detection/collision_common.h.
Overall maximum number of contacts to compute.
Definition at line 199 of file include/moveit/collision_detection/collision_common.h.
Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)
Definition at line 202 of file include/moveit/collision_detection/collision_common.h.
When costs are computed, this value defines how many of the top cost sources should be returned.
Definition at line 205 of file include/moveit/collision_detection/collision_common.h.
When costs are computed, this is the minimum cost density for a CostSource to be included in the results.
Definition at line 208 of file include/moveit/collision_detection/collision_common.h.
Flag indicating whether information about detected collisions should be reported.
Definition at line 215 of file include/moveit/collision_detection/collision_common.h.