collision_detection::CollisionData Struct Reference

Data structure which is passed to the collision callback function of the collision manager. More...

#include <collision_common.h>

Public Member Functions
	CollisionData ()
	CollisionData (const CollisionRequest *req, CollisionResult *res, const AllowedCollisionMatrix *acm)
void	enableGroup (const moveit::core::RobotModelConstPtr &robot_model)
	Compute active_components_only_ based on the joint group specified in req_. More...
	~CollisionData ()

Public Attributes
const AllowedCollisionMatrix *	acm_
	The user-specified collision matrix (may be NULL). More...
const std::set< const moveit::core::LinkModel * > *	active_components_only_
	If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision. More...
bool	done_
	Flag indicating whether collision checking is complete. More...
const CollisionRequest *	req_
	The collision request passed by the user. More...
CollisionResult *	res_
	The user-specified response location. More...

Detailed Description

Data structure which is passed to the collision callback function of the collision manager.

Definition at line 173 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Constructor & Destructor Documentation

CollisionData() [1/2]

collision_detection::CollisionData::CollisionData ( )

inline

Definition at line 175 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

CollisionData() [2/2]

collision_detection::CollisionData::CollisionData ( const CollisionRequest *  req, CollisionResult *  res, const AllowedCollisionMatrix *  acm  )

inline

Definition at line 179 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

~CollisionData()

collision_detection::CollisionData::~CollisionData ( )

inline

Definition at line 184 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Member Function Documentation

enableGroup()

void collision_detection::CollisionData::enableGroup

(

const moveit::core::RobotModelConstPtr &

robot_model

)

Compute active_components_only_ based on the joint group specified in req_.

Definition at line 970 of file fcl/src/collision_common.cpp.

Member Data Documentation

acm_

const AllowedCollisionMatrix* collision_detection::CollisionData::acm_

The user-specified collision matrix (may be NULL).

Definition at line 204 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

active_components_only_

const std::set<const moveit::core::LinkModel*>* collision_detection::CollisionData::active_components_only_

If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision.

If the pointer is NULL, all collisions are considered.

Definition at line 198 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

done_

bool collision_detection::CollisionData::done_

Flag indicating whether collision checking is complete.

Definition at line 207 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

req_

const CollisionRequest* collision_detection::CollisionData::req_

The collision request passed by the user.

Definition at line 192 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

res_

CollisionResult* collision_detection::CollisionData::res_

The user-specified response location.

Definition at line 201 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

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

• fcl/include/moveit/collision_detection_fcl/collision_common.h
• fcl/src/collision_common.cpp