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

Representation of a collision checking result. More...

#include <collision_common.h>

Public Types

using ContactMap = std::map< std::pair< std::string, std::string >, std::vector< Contact > >
 

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void clear ()
 Clear a previously stored result. More...
 
 CollisionResult ()
 
void print () const
 Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level. More...
 

Public Attributes

bool collision
 True if collision was found, false otherwise. More...
 
std::size_t contact_count
 Number of contacts returned. More...
 
ContactMap contacts
 A map returning the pairs of body ids in contact, plus their contact details. More...
 
std::set< CostSourcecost_sources
 These are the individual cost sources when costs are computed. More...
 
double distance
 Closest distance between two bodies. More...
 

Detailed Description

Representation of a collision checking result.

Definition at line 177 of file include/moveit/collision_detection/collision_common.h.

Member Typedef Documentation

◆ ContactMap

Constructor & Destructor Documentation

◆ CollisionResult()

collision_detection::CollisionResult::CollisionResult ( )
inline

Member Function Documentation

◆ clear()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void collision_detection::CollisionResult::clear ( )
inline

Clear a previously stored result.

Definition at line 187 of file include/moveit/collision_detection/collision_common.h.

◆ print()

void collision_detection::CollisionResult::print ( ) const

Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level.

Definition at line 42 of file src/collision_common.cpp.

Member Data Documentation

◆ collision

bool collision_detection::CollisionResult::collision

True if collision was found, false otherwise.

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

◆ contact_count

std::size_t collision_detection::CollisionResult::contact_count

Number of contacts returned.

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

◆ contacts

ContactMap collision_detection::CollisionResult::contacts

A map returning the pairs of body ids in contact, plus their contact details.

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

◆ cost_sources

std::set<CostSource> collision_detection::CollisionResult::cost_sources

These are the individual cost sources when costs are computed.

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

◆ distance

double collision_detection::CollisionResult::distance

Closest distance between two bodies.

Definition at line 203 of file include/moveit/collision_detection/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 Sat Jun 12 2021 02:23:04