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 142 of file include/moveit/collision_detection/collision_common.h.

Member Function Documentation

getVolume()

double collision_detection::CostSource::getVolume ( ) const

inline

Get the volume of the AABB around the cost source.

Definition at line 154 of file include/moveit/collision_detection/collision_common.h.

operator<()

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 160 of file include/moveit/collision_detection/collision_common.h.

Member Data Documentation

aabb_max

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 148 of file include/moveit/collision_detection/collision_common.h.

aabb_min

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 145 of file include/moveit/collision_detection/collision_common.h.

cost

double collision_detection::CostSource::cost

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

Definition at line 151 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