Public Member Functions | Public Attributes | List of all members
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. More...
 
bool operator< (const CostSource &other) const
 Order cost sources so that the most costly source is at the top. More...
 

Public Attributes

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

Detailed Description

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

Definition at line 103 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 115 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 121 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

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 109 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 106 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::CostSource::cost

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

Definition at line 112 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 Sat Apr 21 2018 02:54:52