58 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
68 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
78 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
89 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
97 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
106 ROS_INFO_NAMED(
"collision_detection",
"Using AllValid collision detection. No collision checking is performed.");
Representation of a distance-reporting request.
Representation of a collision checking request.
#define ROS_INFO_NAMED(name,...)
void checkRobotCollision(const CollisionRequest &req, CollisionResult &res, const CollisionRobot &robot, const robot_state::RobotState &state) const override
Check whether the robot model is in collision with the world. Any collisions between a robot link and...
Representation of a collision checking result.
virtual double distanceWorld(const CollisionWorld &world) const
bool collision
True if collision was found, false otherwise.
void checkWorldCollision(const CollisionRequest &req, CollisionResult &res, const CollisionWorld &other_world) const override
Check whether a given set of objects is in collision with objects from another world. Any contacts are considered.
bool verbose
Flag indicating whether information about detected collisions should be reported. ...
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
virtual double distanceRobot(const CollisionRobot &robot, const robot_state::RobotState &state) const
This class represents a collision model of the robot and can be used for self collision checks (to ch...
Result of a distance request.
static const std::string NAME
bool collision
Indicates if two objects were in collision.
Perform collision checking with the environment. The collision world maintains a representation of th...
Representation of a robot's state. This includes position, velocity, acceleration and effort...