collision_detection::CollisionRequest Struct Reference

Representation of a collision checking request. More...

#include <collision_common.h>

List of all members.

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.

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Detailed Description

Representation of a collision checking request.

Definition at line 172 of file include/moveit/collision_detection/collision_common.h.

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Constructor & Destructor Documentation

collision_detection::CollisionRequest::CollisionRequest

(

)

[inline]

Definition at line 174 of file include/moveit/collision_detection/collision_common.h.

virtual collision_detection::CollisionRequest::~CollisionRequest

(

)

[inline, virtual]

Definition at line 185 of file include/moveit/collision_detection/collision_common.h.

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Member Data Documentation

bool collision_detection::CollisionRequest::contacts

If true, compute contacts.

Definition at line 199 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::CollisionRequest::cost

If true, a collision cost is computed.

Definition at line 196 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::CollisionRequest::distance

If true, compute proximity distance.

Definition at line 193 of file include/moveit/collision_detection/collision_common.h.

std::string collision_detection::CollisionRequest::group_name

The group name to check collisions for (optional; if empty, assume the complete robot)

Definition at line 190 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 215 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::CollisionRequest::max_contacts

Overall maximum number of contacts to compute.

Definition at line 202 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::CollisionRequest::max_contacts_per_pair

Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)

Definition at line 206 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::CollisionRequest::max_cost_sources

When costs are computed, this value defines how many of the top cost sources should be returned.

Definition at line 209 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::CollisionRequest::min_cost_density

When costs are computed, this is the minimum cost density for a CostSource to be included in the results.

Definition at line 212 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::CollisionRequest::verbose

Flag indicating whether information about detected collisions should be reported.

Definition at line 218 of file include/moveit/collision_detection/collision_common.h.

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The documentation for this struct was generated from the following file:

• include/moveit/collision_detection/collision_common.h