The ContactTrajectoryStepResults struct is the second level struct for tracking contacts in a trajectory. This struct stores all the substep contact information as well as the start and end state of the given step in the trajectory. More...
#include <types.h>
Public Types | |
| using | UPtr = std::unique_ptr< ContactTrajectoryStepResults > |
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ContactTrajectoryStepResults ()=default |
| ContactTrajectoryStepResults (int step_number, const Eigen::VectorXd &start_state, const Eigen::VectorXd &end_state, int num_substeps) | |
| ContactTrajectoryStepResults (int step_number, const Eigen::VectorXd &state) | |
| ContactTrajectorySubstepResults | mostCollisionsSubstep () const |
| int | numContacts () const |
| int | numSubsteps () const |
| void | resize (int num_substeps) |
| tesseract_collision::ContactResultVector | worstCollision () const |
| ContactTrajectorySubstepResults | worstSubstep () const |
Public Attributes | |
| Eigen::VectorXd | state0 |
| Eigen::VectorXd | state1 |
| int | step = -1 |
| std::vector< ContactTrajectorySubstepResults > | substeps |
| int | total_substeps = 0 |
The ContactTrajectoryStepResults struct is the second level struct for tracking contacts in a trajectory. This struct stores all the substep contact information as well as the start and end state of the given step in the trajectory.
| using tesseract_collision::ContactTrajectoryStepResults::UPtr = std::unique_ptr<ContactTrajectoryStepResults> |
|
default |
| tesseract_collision::ContactTrajectoryStepResults::ContactTrajectoryStepResults | ( | int | step_number, |
| const Eigen::VectorXd & | start_state, | ||
| const Eigen::VectorXd & | end_state, | ||
| int | num_substeps | ||
| ) |
| tesseract_collision::ContactTrajectoryStepResults::ContactTrajectoryStepResults | ( | int | step_number, |
| const Eigen::VectorXd & | state | ||
| ) |
| ContactTrajectorySubstepResults tesseract_collision::ContactTrajectoryStepResults::mostCollisionsSubstep | ( | ) | const |
| int tesseract_collision::ContactTrajectoryStepResults::numContacts | ( | ) | const |
| int tesseract_collision::ContactTrajectoryStepResults::numSubsteps | ( | ) | const |
| void tesseract_collision::ContactTrajectoryStepResults::resize | ( | int | num_substeps | ) |
| tesseract_collision::ContactResultVector tesseract_collision::ContactTrajectoryStepResults::worstCollision | ( | ) | const |
| ContactTrajectorySubstepResults tesseract_collision::ContactTrajectoryStepResults::worstSubstep | ( | ) | const |
| Eigen::VectorXd tesseract_collision::ContactTrajectoryStepResults::state0 |
| Eigen::VectorXd tesseract_collision::ContactTrajectoryStepResults::state1 |
| int tesseract_collision::ContactTrajectoryStepResults::step = -1 |
| std::vector<ContactTrajectorySubstepResults> tesseract_collision::ContactTrajectoryStepResults::substeps |
| int tesseract_collision::ContactTrajectoryStepResults::total_substeps = 0 |