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

Data structure which is passed to the collision callback function of the collision manager. More...

#include <collision_common.h>

Public Member Functions

 CollisionData ()
 
 CollisionData (const CollisionRequest *req, CollisionResult *res, const AllowedCollisionMatrix *acm)
 
void enableGroup (const moveit::core::RobotModelConstPtr &robot_model)
 Compute active_components_only_ based on the joint group specified in req_. More...
 
 ~CollisionData ()
 

Public Attributes

const AllowedCollisionMatrixacm_
 The user-specified collision matrix (may be NULL). More...
 
const std::set< const moveit::core::LinkModel * > * active_components_only_
 If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision. More...
 
bool done_
 Flag indicating whether collision checking is complete. More...
 
const CollisionRequestreq_
 The collision request passed by the user. More...
 
CollisionResultres_
 The user-specified response location. More...
 

Detailed Description

Data structure which is passed to the collision callback function of the collision manager.

Definition at line 173 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

Constructor & Destructor Documentation

◆ CollisionData() [1/2]

collision_detection::CollisionData::CollisionData ( )
inline

◆ CollisionData() [2/2]

collision_detection::CollisionData::CollisionData ( const CollisionRequest req,
CollisionResult res,
const AllowedCollisionMatrix acm 
)
inline

◆ ~CollisionData()

collision_detection::CollisionData::~CollisionData ( )
inline

Member Function Documentation

◆ enableGroup()

void collision_detection::CollisionData::enableGroup ( const moveit::core::RobotModelConstPtr &  robot_model)

Compute active_components_only_ based on the joint group specified in req_.

Definition at line 970 of file fcl/src/collision_common.cpp.

Member Data Documentation

◆ acm_

const AllowedCollisionMatrix* collision_detection::CollisionData::acm_

The user-specified collision matrix (may be NULL).

Definition at line 204 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ active_components_only_

const std::set<const moveit::core::LinkModel*>* collision_detection::CollisionData::active_components_only_

If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision.

If the pointer is NULL, all collisions are considered.

Definition at line 198 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ done_

bool collision_detection::CollisionData::done_

Flag indicating whether collision checking is complete.

Definition at line 207 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.

◆ req_

const CollisionRequest* collision_detection::CollisionData::req_

The collision request passed by the user.

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

◆ res_

CollisionResult* collision_detection::CollisionData::res_

The user-specified response location.

Definition at line 201 of file fcl/include/moveit/collision_detection_fcl/collision_common.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Nov 21 2021 03:25:57