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. More... | |
| bool | cost |
| If true, a collision cost is computed. More... | |
| bool | distance |
| If true, compute proximity distance. More... | |
| std::string | group_name |
| The group name to check collisions for (optional; if empty, assume the complete robot) More... | |
| boost::function< bool(const CollisionResult &)> | is_done |
| Function call that decides whether collision detection should stop. More... | |
| std::size_t | max_contacts |
| Overall maximum number of contacts to compute. More... | |
| 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) More... | |
| std::size_t | max_cost_sources |
| When costs are computed, this value defines how many of the top cost sources should be returned. More... | |
| double | min_cost_density |
| When costs are computed, this is the minimum cost density for a CostSource to be included in the results. More... | |
| bool | verbose |
| Flag indicating whether information about detected collisions should be reported. More... | |
Representation of a collision checking request.
Definition at line 174 of file include/moveit/collision_detection/collision_common.h.
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inline |
Definition at line 176 of file include/moveit/collision_detection/collision_common.h.
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inlinevirtual |
Definition at line 187 of file include/moveit/collision_detection/collision_common.h.
| bool collision_detection::CollisionRequest::contacts |
If true, compute contacts.
Definition at line 201 of file include/moveit/collision_detection/collision_common.h.
| bool collision_detection::CollisionRequest::cost |
If true, a collision cost is computed.
Definition at line 198 of file include/moveit/collision_detection/collision_common.h.
| bool collision_detection::CollisionRequest::distance |
If true, compute proximity distance.
Definition at line 195 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 192 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 217 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 204 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 208 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 211 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 214 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 220 of file include/moveit/collision_detection/collision_common.h.