collision_detection::CollisionResult Struct Reference

Representation of a collision checking result. More...

#include <collision_common.h>

List of all members.

Public Types
typedef std::map< std::pair < std::string, std::string > , std::vector< Contact > >	ContactMap
Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	clear ()
	Clear a previously stored result.
	CollisionResult ()
Public Attributes
bool	collision
	True if collision was found, false otherwise.
std::size_t	contact_count
	Number of contacts returned.
ContactMap	contacts
	A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.
std::set< CostSource >	cost_sources
	When costs are computed, the individual cost sources are.
double	distance
	Closest distance between two bodies.

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Detailed Description

Representation of a collision checking result.

Definition at line 134 of file include/moveit/collision_detection/collision_common.h.

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Member Typedef Documentation

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

Definition at line 141 of file include/moveit/collision_detection/collision_common.h.

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Constructor & Destructor Documentation

collision_detection::CollisionResult::CollisionResult

(

)

[inline]

Definition at line 136 of file include/moveit/collision_detection/collision_common.h.

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Member Function Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision_detection::CollisionResult::clear

(

)

[inline]

Clear a previously stored result.

Definition at line 146 of file include/moveit/collision_detection/collision_common.h.

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Member Data Documentation

bool collision_detection::CollisionResult::collision

True if collision was found, false otherwise.

Definition at line 156 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::CollisionResult::contact_count

Number of contacts returned.

Definition at line 162 of file include/moveit/collision_detection/collision_common.h.

ContactMap collision_detection::CollisionResult::contacts

A map returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.

Definition at line 165 of file include/moveit/collision_detection/collision_common.h.

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

When costs are computed, the individual cost sources are.

Definition at line 168 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::CollisionResult::distance

Closest distance between two bodies.

Definition at line 159 of file include/moveit/collision_detection/collision_common.h.

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

• include/moveit/collision_detection/collision_common.h