src/collision_common.cpp
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34 
36 
37 static const char LOGNAME[] = "collision_common";
38 constexpr size_t LOG_THROTTLE_PERIOD = 5;
39 
40 namespace collision_detection
41 {
43 {
44  if (!contacts.empty())
45  {
47  "Objects in collision (printing 1st of "
48  << contacts.size() << " pairs): " << contacts.begin()->first.first << ", "
49  << contacts.begin()->first.second);
50 
51  // Log all collisions at the debug level
53  for (const auto& contact : contacts)
54  {
55  ROS_DEBUG_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME,
56  "\t" << contact.first.first << ", " << contact.first.second);
57  }
58  }
59 }
60 
61 } // namespace collision_detection
static const char LOGNAME[]
ContactMap contacts
A map returning the pairs of body ids in contact, plus their contact details.
constexpr size_t LOG_THROTTLE_PERIOD
void print() const
Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level...
Generic interface to collision detection.
#define ROS_WARN_STREAM_THROTTLE_NAMED(period, name, args)
#define ROS_DEBUG_STREAM_THROTTLE_NAMED(period, name, args)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Mar 2 2021 03:51:21