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.