Public Member Functions | Public Attributes | List of all members
collision_detection::CollisionRequest Struct Reference

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. Otherwise only a binary collision yes/no is reported. 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...
 
bool verbose
 Flag indicating whether information about detected collisions should be reported. More...
 

Detailed Description

Representation of a collision checking request.

Definition at line 216 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

◆ CollisionRequest()

collision_detection::CollisionRequest::CollisionRequest ( )
inline

◆ ~CollisionRequest()

virtual collision_detection::CollisionRequest::~CollisionRequest ( )
inlinevirtual

Member Data Documentation

◆ contacts

bool collision_detection::CollisionRequest::contacts

If true, compute contacts. Otherwise only a binary collision yes/no is reported.

Definition at line 242 of file include/moveit/collision_detection/collision_common.h.

◆ cost

bool collision_detection::CollisionRequest::cost

If true, a collision cost is computed.

Definition at line 239 of file include/moveit/collision_detection/collision_common.h.

◆ distance

bool collision_detection::CollisionRequest::distance

If true, compute proximity distance.

Definition at line 236 of file include/moveit/collision_detection/collision_common.h.

◆ group_name

std::string collision_detection::CollisionRequest::group_name

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

Definition at line 233 of file include/moveit/collision_detection/collision_common.h.

◆ is_done

boost::function<bool(const CollisionResult&)> collision_detection::CollisionRequest::is_done

Function call that decides whether collision detection should stop.

Definition at line 255 of file include/moveit/collision_detection/collision_common.h.

◆ max_contacts

std::size_t collision_detection::CollisionRequest::max_contacts

Overall maximum number of contacts to compute.

Definition at line 245 of file include/moveit/collision_detection/collision_common.h.

◆ max_contacts_per_pair

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 249 of file include/moveit/collision_detection/collision_common.h.

◆ max_cost_sources

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 252 of file include/moveit/collision_detection/collision_common.h.

◆ verbose

bool collision_detection::CollisionRequest::verbose

Flag indicating whether information about detected collisions should be reported.

Definition at line 258 of file include/moveit/collision_detection/collision_common.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 24 2021 02:23:53