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

#include <collision_common_distance_field.h>

List of all members.

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW GroupStateRepresentation ()
 GroupStateRepresentation (const GroupStateRepresentation &gsr)

Public Attributes

std::vector
< PosedBodySphereDecompositionVectorPtr > 
attached_body_decompositions_
boost::shared_ptr< const
DistanceFieldCacheEntry
dfce_
std::vector< GradientInfogradients_
std::vector
< PosedBodySphereDecompositionPtr > 
link_body_decompositions_
std::vector
< PosedDistanceFieldPtr > 
link_distance_fields_

Detailed Description

collision volume representation for a particular pose and link group

This stores posed spheres making up the collision volume for a particular link group in a particular pose. It is associated with a particular dfce_ and can only be used with that dfce_ (DistanceFieldCacheEntry -- see below).

Definition at line 55 of file collision_common_distance_field.h.


Constructor & Destructor Documentation

Definition at line 59 of file collision_common_distance_field.h.

Definition at line 60 of file collision_common_distance_field.h.


Member Data Documentation

std::vector<PosedBodySphereDecompositionVectorPtr> collision_detection::GroupStateRepresentation::attached_body_decompositions_

posed spheres representing collision volume for bodies attached to group links

Definition at line 92 of file collision_common_distance_field.h.

dfce used to generate this GSR

Definition at line 82 of file collision_common_distance_field.h.

information about detected collisions, collected during collision detection. One entry for each link and one entry for each attached object.

Definition at line 100 of file collision_common_distance_field.h.

posed spheres representing collision volume for the links in the group (dfce_.group_name_) and all links below the group (i.e. links that can move if joints in the group move). These are posed in the global frame used for collision detection.

Definition at line 88 of file collision_common_distance_field.h.

Definition at line 95 of file collision_common_distance_field.h.


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


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Mon Jul 24 2017 02:21:02