The ContactTrajectorySubstepResults struct is the lowest level struct for tracking contacts in a trajectory. This struct is used for substeps between waypoints in a trajectory when a longest valid segment is used, storing the relevant states of the substep. More...

#include <types.h>

Public Types
using	UPtr = std::unique_ptr< ContactTrajectorySubstepResults >

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ContactTrajectorySubstepResults ()=default

	ContactTrajectorySubstepResults (int substep, const Eigen::VectorXd &start_state, const Eigen::VectorXd &end_state)

	ContactTrajectorySubstepResults (int substep, const Eigen::VectorXd &state)

int	numContacts () const

tesseract_collision::ContactResultVector	worstCollision () const

Public Attributes
tesseract_collision::ContactResultMap	contacts

Eigen::VectorXd	state0

Eigen::VectorXd	state1

int	substep = -1

Detailed Description

The ContactTrajectorySubstepResults struct is the lowest level struct for tracking contacts in a trajectory. This struct is used for substeps between waypoints in a trajectory when a longest valid segment is used, storing the relevant states of the substep.

Definition at line 497 of file types.h.

Member Typedef Documentation

◆ UPtr

using tesseract_collision::ContactTrajectorySubstepResults::UPtr = std::unique_ptr<ContactTrajectorySubstepResults>

Definition at line 507 of file types.h.

Constructor & Destructor Documentation

◆ ContactTrajectorySubstepResults() [1/3]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW tesseract_collision::ContactTrajectorySubstepResults::ContactTrajectorySubstepResults ( )

default

◆ ContactTrajectorySubstepResults() [2/3]

tesseract_collision::ContactTrajectorySubstepResults::ContactTrajectorySubstepResults	(	int	substep,
		const Eigen::VectorXd &	start_state,
		const Eigen::VectorXd &	end_state
	)

Definition at line 442 of file types.cpp.

◆ ContactTrajectorySubstepResults() [3/3]

tesseract_collision::ContactTrajectorySubstepResults::ContactTrajectorySubstepResults	(	int	substep,
		const Eigen::VectorXd &	state
	)

Definition at line 449 of file types.cpp.

Member Function Documentation

◆ numContacts()

int tesseract_collision::ContactTrajectorySubstepResults::numContacts ( ) const

Definition at line 454 of file types.cpp.

◆ worstCollision()

tesseract_collision::ContactResultVector tesseract_collision::ContactTrajectorySubstepResults::worstCollision ( ) const

Definition at line 456 of file types.cpp.

Member Data Documentation

◆ contacts

tesseract_collision::ContactResultMap tesseract_collision::ContactTrajectorySubstepResults::contacts

Definition at line 513 of file types.h.

◆ state0

Eigen::VectorXd tesseract_collision::ContactTrajectorySubstepResults::state0

Definition at line 515 of file types.h.

◆ state1

Eigen::VectorXd tesseract_collision::ContactTrajectorySubstepResults::state1

Definition at line 516 of file types.h.

◆ substep

int tesseract_collision::ContactTrajectorySubstepResults::substep = -1

Definition at line 514 of file types.h.

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

Public Types

Public Member Functions

Public Attributes