When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...
#include <collision_common.h>
Public Member Functions  
double  getVolume () const 
Get the volume of the AABB around the cost source. More...  
bool  operator< (const CostSource &other) const 
Order cost sources so that the most costly source is at the top. More...  
Public Attributes  
boost::array< double, 3 >  aabb_max 
The maximum bound of the AABB defining the volume responsible for this partial cost. More...  
boost::array< double, 3 >  aabb_min 
The minimum bound of the AABB defining the volume responsible for this partial cost. More...  
double  cost 
The partial cost (the probability of existance for the object there is a collision with) More...  
When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume.
Definition at line 142 of file include/moveit/collision_detection/collision_common.h.

inline 
Get the volume of the AABB around the cost source.
Definition at line 154 of file include/moveit/collision_detection/collision_common.h.

inline 
Order cost sources so that the most costly source is at the top.
Definition at line 160 of file include/moveit/collision_detection/collision_common.h.
boost::array<double, 3> collision_detection::CostSource::aabb_max 
The maximum bound of the AABB defining the volume responsible for this partial cost.
Definition at line 148 of file include/moveit/collision_detection/collision_common.h.
boost::array<double, 3> collision_detection::CostSource::aabb_min 
The minimum bound of the AABB defining the volume responsible for this partial cost.
Definition at line 145 of file include/moveit/collision_detection/collision_common.h.
double collision_detection::CostSource::cost 
The partial cost (the probability of existance for the object there is a collision with)
Definition at line 151 of file include/moveit/collision_detection/collision_common.h.