Public Member Functions | Public Attributes | List of all members
collision_detection::DistanceRequest Struct Reference

#include <collision_common.h>

Public Member Functions

 DistanceRequest ()
 
void enableGroup (const robot_model::RobotModelConstPtr &kmodel)
 Compute active_components_only_ based on req_. More...
 

Public Attributes

const AllowedCollisionMatrixacm
 The allowed collision matrix used to filter checks. More...
 
const std::set< const robot_model::LinkModel * > * active_components_only
 The set of active components to check. More...
 
bool compute_gradient
 
double distance_threshold
 
bool enable_nearest_points
 Indicate if nearest point information should be calculated. More...
 
bool enable_signed_distance
 Indicate if a signed distance should be calculated in a collision. More...
 
std::string group_name
 The group name. More...
 
std::size_t max_contacts_per_body
 Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold) More...
 
DistanceRequestType type
 
bool verbose
 Log debug information. More...
 

Detailed Description

Definition at line 235 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

collision_detection::DistanceRequest::DistanceRequest ( )
inline

Member Function Documentation

void collision_detection::DistanceRequest::enableGroup ( const robot_model::RobotModelConstPtr &  kmodel)
inline

Compute active_components_only_ based on req_.

Definition at line 251 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

const AllowedCollisionMatrix* collision_detection::DistanceRequest::acm

The allowed collision matrix used to filter checks.

Definition at line 280 of file include/moveit/collision_detection/collision_common.h.

const std::set<const robot_model::LinkModel*>* collision_detection::DistanceRequest::active_components_only

The set of active components to check.

Definition at line 277 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceRequest::compute_gradient

Indicate if gradient should be calculated between each object. This is the normalized vector connecting the closest points on the two objects.

Definition at line 291 of file include/moveit/collision_detection/collision_common.h.

double collision_detection::DistanceRequest::distance_threshold

Only calculate distances for objects within this threshold to each other. If set this can significantly to reduce number of queries.

Definition at line 284 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceRequest::enable_nearest_points

Indicate if nearest point information should be calculated.

Definition at line 260 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceRequest::enable_signed_distance

Indicate if a signed distance should be calculated in a collision.

Definition at line 263 of file include/moveit/collision_detection/collision_common.h.

std::string collision_detection::DistanceRequest::group_name

The group name.

Definition at line 274 of file include/moveit/collision_detection/collision_common.h.

std::size_t collision_detection::DistanceRequest::max_contacts_per_body

Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold)

Definition at line 271 of file include/moveit/collision_detection/collision_common.h.

DistanceRequestType collision_detection::DistanceRequest::type

Indicate the type of distance request. If using type=ALL, it is recommended to set max_contacts_per_body to the expected number of contacts per pair becaused it is uesed to reserving space.

Definition at line 268 of file include/moveit/collision_detection/collision_common.h.

bool collision_detection::DistanceRequest::verbose

Log debug information.

Definition at line 287 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 Sun Sep 15 2019 03:57:56