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>`

## 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) |

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.

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.

boost::array<double, 3> collision_detection::CostSource::aabb_max |

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.

boost::array<double, 3> collision_detection::CostSource::aabb_min |

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 Apr 23 2018 10:24:46

Author(s): Ioan Sucan

autogenerated on Mon Apr 23 2018 10:24:46