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

When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...

#include <collision_common.h>

List of all members.

Public Member Functions

double getVolume () const
 Get the volume of the AABB around the cost source.
bool operator< (const CostSource &other) const
 Order cost sources so that the most costly source is at the top.

Public Attributes

boost::array< double, 3 > aabb_max
 The maximum bound of the AABB defining the volume responsible for this partial cost.
boost::array< double, 3 > aabb_min
 The minimum bound of the AABB defining the volume responsible for this partial cost.
double cost
 The partial cost (the probability of existance for the object there is a collision with)

Detailed Description

When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume.

Definition at line 100 of file include/moveit/collision_detection/collision_common.h.


Member Function Documentation

double collision_detection::CostSource::getVolume ( ) const [inline]

Get the volume of the AABB around the cost source.

Definition at line 112 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::CostSource::operator< ( const CostSource other) const [inline]

Order cost sources so that the most costly source is at the top.

Definition at line 118 of file include/moveit/collision_detection/collision_common.h.


Member Data Documentation

The maximum bound of the AABB defining the volume responsible for this partial cost.

Definition at line 106 of file include/moveit/collision_detection/collision_common.h.

The minimum bound of the AABB defining the volume responsible for this partial cost.

Definition at line 103 of file include/moveit/collision_detection/collision_common.h.

The partial cost (the probability of existance for the object there is a collision with)

Definition at line 109 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 Mon Nov 26 2018 03:22:11