collision_detection::CollisionResult Struct Reference

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. More...
	CollisionResult ()

Public Attributes
bool	collision
	True if collision was found, false otherwise. More...
std::size_t	contact_count
	Number of contacts returned. More...
ContactMap	contacts
	A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves. More...
std::set< CostSource >	cost_sources
	When costs are computed, the individual cost sources are. More...
double	distance
	Closest distance between two bodies. More...

Detailed Description

Representation of a collision checking result.

Definition at line 137 of file include/moveit/collision_detection/collision_common.h.

Member Typedef Documentation

typedef std::map<std::pair<std::string, std::string>, std::vector<Contact> > collision_detection::CollisionResult::ContactMap

Definition at line 142 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

collision_detection::CollisionResult::CollisionResult ( )

inline

Definition at line 139 of file include/moveit/collision_detection/collision_common.h.

Member Function Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision_detection::CollisionResult::clear ( )

inline

Clear a previously stored result.

Definition at line 147 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

bool collision_detection::CollisionResult::collision

True if collision was found, false otherwise.

Definition at line 157 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::CollisionResult::contact_count

Number of contacts returned.

Definition at line 163 of file include/moveit/collision_detection/collision_common.h.

ContactMap collision_detection::CollisionResult::contacts

A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.

Definition at line 167 of file include/moveit/collision_detection/collision_common.h.

std::set<CostSource> collision_detection::CollisionResult::cost_sources

When costs are computed, the individual cost sources are.

Definition at line 170 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::CollisionResult::distance

Closest distance between two bodies.

Definition at line 160 of file include/moveit/collision_detection/collision_common.h.

---

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

• include/moveit/collision_detection/collision_common.h