collision_detection::CollisionRequest Struct Reference

Representation of a collision checking request. More...

#include <collision_common.h>

Public Member Functions
	CollisionRequest ()
virtual	~CollisionRequest ()

Public Attributes
bool	contacts
	If true, compute contacts. Otherwise only a binary collision yes/no is reported. More...
bool	cost
	If true, a collision cost is computed. More...
bool	detailed_distance
	If true, return detailed distance information. Distance must be set to true as well. More...
bool	distance
	If true, compute proximity distance. More...
std::string	group_name
	The group name to check collisions for (optional; if empty, assume the complete robot) More...
boost::function< bool(const CollisionResult &)>	is_done
	Function call that decides whether collision detection should stop. More...
std::size_t	max_contacts
	Overall maximum number of contacts to compute. More...
std::size_t	max_contacts_per_pair
	Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations) More...
std::size_t	max_cost_sources
	When costs are computed, this value defines how many of the top cost sources should be returned. More...
bool	verbose
	Flag indicating whether information about detected collisions should be reported. More...

Detailed Description

Representation of a collision checking request.

Definition at line 179 of file include/moveit/collision_detection/collision_common.h.

Constructor & Destructor Documentation

CollisionRequest()

collision_detection::CollisionRequest::CollisionRequest ( )

inline

Definition at line 181 of file include/moveit/collision_detection/collision_common.h.

~CollisionRequest()

virtual collision_detection::CollisionRequest::~CollisionRequest ( )

inlinevirtual

Definition at line 192 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

contacts

bool collision_detection::CollisionRequest::contacts

If true, compute contacts. Otherwise only a binary collision yes/no is reported.

Definition at line 209 of file include/moveit/collision_detection/collision_common.h.

cost

bool collision_detection::CollisionRequest::cost

If true, a collision cost is computed.

Definition at line 206 of file include/moveit/collision_detection/collision_common.h.

detailed_distance

bool collision_detection::CollisionRequest::detailed_distance

If true, return detailed distance information. Distance must be set to true as well.

Definition at line 203 of file include/moveit/collision_detection/collision_common.h.

distance

bool collision_detection::CollisionRequest::distance

If true, compute proximity distance.

Definition at line 200 of file include/moveit/collision_detection/collision_common.h.

group_name

std::string collision_detection::CollisionRequest::group_name

The group name to check collisions for (optional; if empty, assume the complete robot)

Definition at line 197 of file include/moveit/collision_detection/collision_common.h.

is_done

boost::function<bool(const CollisionResult&)> collision_detection::CollisionRequest::is_done

Function call that decides whether collision detection should stop.

Definition at line 222 of file include/moveit/collision_detection/collision_common.h.

max_contacts

std::size_t collision_detection::CollisionRequest::max_contacts

Overall maximum number of contacts to compute.

Definition at line 212 of file include/moveit/collision_detection/collision_common.h.

max_contacts_per_pair

std::size_t collision_detection::CollisionRequest::max_contacts_per_pair

Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)

Definition at line 216 of file include/moveit/collision_detection/collision_common.h.

max_cost_sources

std::size_t collision_detection::CollisionRequest::max_cost_sources

When costs are computed, this value defines how many of the top cost sources should be returned.

Definition at line 219 of file include/moveit/collision_detection/collision_common.h.

verbose

bool collision_detection::CollisionRequest::verbose

Flag indicating whether information about detected collisions should be reported.

Definition at line 225 of file include/moveit/collision_detection/collision_common.h.

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

• include/moveit/collision_detection/collision_common.h