Contains parameters used to configure a contact manager before a series of contact checks. More...

#include <types.h>

Public Member Functions
	ContactManagerConfig ()=default

	ContactManagerConfig (double default_margin)

void	incrementMargins (double increment)
	Increment all margins by input amount. Useful for inflating or reducing margins. More...

bool	operator!= (const ContactManagerConfig &rhs) const

bool	operator== (const ContactManagerConfig &rhs) const

void	scaleMargins (double scale)
	Scale all margins by input value. More...

void	validate () const
	Check for errors and throw exception if they exist. More...

Public Attributes
tesseract_common::AllowedCollisionMatrix	acm
	Additional AllowedCollisionMatrix to consider for this collision check. More...

ACMOverrideType	acm_override_type { ACMOverrideType::NONE }
	Specifies how to combine the ContactAllowedValidator from acm with the one preset in the contact manager. More...

std::optional< double >	default_margin
	override the default contact margin More...

std::unordered_map< std::string, bool >	modify_object_enabled
	Each key is an object name. Objects will be enabled/disabled based on the value. Objects that aren't in the map are unmodified from the defaults. More...

CollisionMarginPairData	pair_margin_data
	Stores collision margin pair data. More...

CollisionMarginPairOverrideType	pair_margin_override_type { CollisionMarginPairOverrideType::NONE }
	Identify how the collision margin pair data should be applied to the contact manager. More...

Detailed Description

Contains parameters used to configure a contact manager before a series of contact checks.

It should not contain information that is usually specific to a single contactTest such as CollisionObjectTransforms or specific to the way contactTests are carried out such as LVS parameters

Note: Active links were not added to this config since this config could be shared by multiple manipulators, and those are set based on which one is being checked

Definition at line 420 of file types.h.

Constructor & Destructor Documentation

◆ ContactManagerConfig() [1/2]

tesseract_collision::ContactManagerConfig::ContactManagerConfig ( )

default

◆ ContactManagerConfig() [2/2]

tesseract_collision::ContactManagerConfig::ContactManagerConfig ( double default_margin )

Definition at line 375 of file types.cpp.

Member Function Documentation

◆ incrementMargins()

void tesseract_collision::ContactManagerConfig::incrementMargins ( double increment )

Increment all margins by input amount. Useful for inflating or reducing margins.

Parameters

increment Amount to increment margins

Definition at line 377 of file types.cpp.

◆ operator!=()

bool tesseract_collision::ContactManagerConfig::operator!= ( const ContactManagerConfig & rhs ) const

Definition at line 417 of file types.cpp.

◆ operator==()

bool tesseract_collision::ContactManagerConfig::operator== ( const ContactManagerConfig & rhs ) const

Definition at line 406 of file types.cpp.

◆ scaleMargins()

void tesseract_collision::ContactManagerConfig::scaleMargins ( double scale )

Scale all margins by input value.

Parameters

scale Value by which all margins are multiplied

Definition at line 386 of file types.cpp.

◆ validate()

void tesseract_collision::ContactManagerConfig::validate ( ) const

Check for errors and throw exception if they exist.

Exceptions

an	exception if `margin_data_override_type` is set to `NONE`, but margin pair data exist; or if `acm_override_type` is set to `NONE` but allowed collision entries exist.

Definition at line 395 of file types.cpp.

Member Data Documentation

◆ acm

tesseract_common::AllowedCollisionMatrix tesseract_collision::ContactManagerConfig::acm

Additional AllowedCollisionMatrix to consider for this collision check.

Definition at line 434 of file types.h.

◆ acm_override_type

ACMOverrideType tesseract_collision::ContactManagerConfig::acm_override_type { ACMOverrideType::NONE }

Specifies how to combine the ContactAllowedValidator from acm with the one preset in the contact manager.

Definition at line 436 of file types.h.

◆ default_margin

std::optional<double> tesseract_collision::ContactManagerConfig::default_margin

override the default contact margin

Definition at line 426 of file types.h.

◆ modify_object_enabled

std::unordered_map<std::string, bool> tesseract_collision::ContactManagerConfig::modify_object_enabled

Each key is an object name. Objects will be enabled/disabled based on the value. Objects that aren't in the map are unmodified from the defaults.

Definition at line 440 of file types.h.

◆ pair_margin_data

CollisionMarginPairData tesseract_collision::ContactManagerConfig::pair_margin_data

Stores collision margin pair data.

Definition at line 431 of file types.h.

◆ pair_margin_override_type

CollisionMarginPairOverrideType tesseract_collision::ContactManagerConfig::pair_margin_override_type { CollisionMarginPairOverrideType::NONE }

Identify how the collision margin pair data should be applied to the contact manager.

Definition at line 429 of file types.h.

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

Public Member Functions

Public Attributes