Representation of a collision checking result. More...
#include <collision_common.h>
Public Types | |
typedef std::map< std::pair < std::string, std::string > , std::vector< Contact > > | ContactMap |
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void | clear () |
Clear a previously stored result. | |
CollisionResult () | |
Public Attributes | |
bool | collision |
True if collision was found, false otherwise. | |
std::size_t | contact_count |
Number of contacts returned. | |
ContactMap | contacts |
A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves. | |
std::set< CostSource > | cost_sources |
When costs are computed, the individual cost sources are. | |
double | distance |
Closest distance between two bodies. |
Representation of a collision checking result.
Definition at line 134 of file include/moveit/collision_detection/collision_common.h.
typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > collision_detection::CollisionResult::ContactMap |
Definition at line 141 of file include/moveit/collision_detection/collision_common.h.
Definition at line 136 of file include/moveit/collision_detection/collision_common.h.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision_detection::CollisionResult::clear | ( | ) | [inline] |
Clear a previously stored result.
Definition at line 146 of file include/moveit/collision_detection/collision_common.h.
True if collision was found, false otherwise.
Definition at line 156 of file include/moveit/collision_detection/collision_common.h.
Number of contacts returned.
Definition at line 162 of file include/moveit/collision_detection/collision_common.h.
A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.
Definition at line 165 of file include/moveit/collision_detection/collision_common.h.
When costs are computed, the individual cost sources are.
Definition at line 168 of file include/moveit/collision_detection/collision_common.h.
Closest distance between two bodies.
Definition at line 159 of file include/moveit/collision_detection/collision_common.h.