src/collision_common.cpp

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#include <moveit/collision_detection/collision_common.h>
 
static const char LOGNAME[] = "collision_common";
constexpr size_t LOG_THROTTLE_PERIOD = 5;
 
namespace collision_detection
{
void CollisionResult::print() const
{
  if (!contacts.empty())
  {
    ROS_WARN_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME,
                                   "Objects in collision (printing 1st of "
                                       << contacts.size() << " pairs): " << contacts.begin()->first.first << ", "
                                       << contacts.begin()->first.second);
 
    // Log all collisions at the debug level
    ROS_DEBUG_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME, "Objects in collision:");
    for (const auto& contact : contacts)
    {
      ROS_DEBUG_STREAM_THROTTLE_NAMED(LOG_THROTTLE_PERIOD, LOGNAME,
                                      "\t" << contact.first.first << ", " << contact.first.second);
    }
  }
}
 
}  // namespace collision_detection