Public Member Functions | Public Attributes
collision_detection::CollisionRequest Struct Reference

Representation of a collision checking request. More...

#include <collision_common.h>

List of all members.

Public Member Functions

 CollisionRequest ()
virtual ~CollisionRequest ()

Public Attributes

bool contacts
 If true, compute contacts.
bool cost
 If true, a collision cost is computed.
bool distance
 If true, compute proximity distance.
std::string group_name
 The group name to check collisions for (optional; if empty, assume the complete robot)
boost::function< bool(const
CollisionResult &)> 
is_done
 Function call that decides whether collision detection should stop.
std::size_t max_contacts
 Overall maximum number of contacts to compute.
std::size_t max_contacts_per_pair
 Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)
std::size_t max_cost_sources
 When costs are computed, this value defines how many of the top cost sources should be returned.
double min_cost_density
 When costs are computed, this is the minimum cost density for a CostSource to be included in the results.
bool verbose
 Flag indicating whether information about detected collisions should be reported.

Detailed Description

Representation of a collision checking request.

Definition at line 172 of file include/moveit/collision_detection/collision_common.h.


Constructor & Destructor Documentation


Member Data Documentation

If true, compute contacts.

Definition at line 199 of file include/moveit/collision_detection/collision_common.h.

If true, a collision cost is computed.

Definition at line 196 of file include/moveit/collision_detection/collision_common.h.

If true, compute proximity distance.

Definition at line 193 of file include/moveit/collision_detection/collision_common.h.

The group name to check collisions for (optional; if empty, assume the complete robot)

Definition at line 190 of file include/moveit/collision_detection/collision_common.h.

Function call that decides whether collision detection should stop.

Definition at line 215 of file include/moveit/collision_detection/collision_common.h.

Overall maximum number of contacts to compute.

Definition at line 202 of file include/moveit/collision_detection/collision_common.h.

Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)

Definition at line 206 of file include/moveit/collision_detection/collision_common.h.

When costs are computed, this value defines how many of the top cost sources should be returned.

Definition at line 209 of file include/moveit/collision_detection/collision_common.h.

When costs are computed, this is the minimum cost density for a CostSource to be included in the results.

Definition at line 212 of file include/moveit/collision_detection/collision_common.h.

Flag indicating whether information about detected collisions should be reported.

Definition at line 218 of file include/moveit/collision_detection/collision_common.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Feb 20 2018 03:44:49