collision_detection::CollisionResult Struct Reference

Representation of a collision checking result. More...

#include <collision_common.h>

Public Types
using	ContactMap = std::map< std::pair< std::string, std::string >, std::vector< Contact > >

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	clear ()
	Clear a previously stored result. More...
	CollisionResult ()
void	print () const
	Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level. More...

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 body ids in contact, plus their contact details. More...
std::set< CostSource >	cost_sources
	These are the individual cost sources when costs are computed. More...
double	distance
	Closest distance between two bodies. More...
DistanceResult	distance_result
	Distance data for each link. More...

Detailed Description

Representation of a collision checking result.

Definition at line 382 of file include/moveit/collision_detection/collision_common.h.

Member Typedef Documentation

ContactMap

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

Definition at line 387 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

CollisionResult()

collision_detection::CollisionResult::CollisionResult ( )

inline

Definition at line 384 of file include/moveit/collision_detection/collision_common.h.

Member Function Documentation

clear()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision_detection::CollisionResult::clear ( )

inline

Clear a previously stored result.

Definition at line 392 of file include/moveit/collision_detection/collision_common.h.

print()

void collision_detection::CollisionResult::print

(

)

const

Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level.

Definition at line 42 of file src/collision_common.cpp.

Member Data Documentation

collision

bool collision_detection::CollisionResult::collision

True if collision was found, false otherwise.

Definition at line 406 of file include/moveit/collision_detection/collision_common.h.

contact_count

std::size_t collision_detection::CollisionResult::contact_count

Number of contacts returned.

Definition at line 415 of file include/moveit/collision_detection/collision_common.h.

contacts

ContactMap collision_detection::CollisionResult::contacts

A map returning the pairs of body ids in contact, plus their contact details.

Definition at line 418 of file include/moveit/collision_detection/collision_common.h.

cost_sources

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

These are the individual cost sources when costs are computed.

Definition at line 421 of file include/moveit/collision_detection/collision_common.h.

distance

double collision_detection::CollisionResult::distance

Closest distance between two bodies.

Definition at line 409 of file include/moveit/collision_detection/collision_common.h.

distance_result

DistanceResult collision_detection::CollisionResult::distance_result

Distance data for each link.

Definition at line 412 of file include/moveit/collision_detection/collision_common.h.

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

• include/moveit/collision_detection/collision_common.h
• src/collision_common.cpp