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

Representation of a distance-reporting request. More...

#include <collision_common.h>

Public Member Functions

 DistanceRequest ()
 
void enableGroup (const robot_model::RobotModelConstPtr &robot_model)
 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

Representation of a distance-reporting request.

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

Constructor & Destructor Documentation

◆ DistanceRequest()

collision_detection::DistanceRequest::DistanceRequest ( )
inline

Member Function Documentation

◆ enableGroup()

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

Compute active_components_only_ based on req_.

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

Member Data Documentation

◆ acm

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.

◆ active_components_only

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.

◆ compute_gradient

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.

◆ distance_threshold

double collision_detection::DistanceRequest::distance_threshold

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

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

◆ enable_nearest_points

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.

◆ enable_signed_distance

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.

◆ group_name

std::string collision_detection::DistanceRequest::group_name

The group name.

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

◆ max_contacts_per_body

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.

◆ type

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 because it is used to reserve space.

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

◆ verbose

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 Fri Oct 11 2019 03:56:04