This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure. More...

#include <types.h>

Public Member Functions
	CollisionCheckConfig (ContactRequest request=ContactRequest(), CollisionEvaluatorType type=CollisionEvaluatorType::DISCRETE, double longest_valid_segment_length=0.005, CollisionCheckProgramType check_program_mode=CollisionCheckProgramType::ALL)

bool	operator!= (const CollisionCheckConfig &rhs) const

bool	operator== (const CollisionCheckConfig &rhs) const

Public Attributes
CollisionCheckProgramType	check_program_mode { CollisionCheckProgramType::ALL }
	Secifies the mode used when collision checking program/trajectory. Default: ALL. More...

ContactRequest	contact_request
	ContactRequest that will be used for this check. Default test type: ALL. More...

double	longest_valid_segment_length { 0.005 }
	Longest valid segment to use if type supports lvs. Default: 0.005. More...

CollisionEvaluatorType	type { CollisionEvaluatorType::DISCRETE }
	Specifies the type of collision check to be performed. Default: DISCRETE. More...

Detailed Description

This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure.

Definition at line 469 of file types.h.

Constructor & Destructor Documentation

◆ CollisionCheckConfig()

tesseract_collision::CollisionCheckConfig::CollisionCheckConfig	(	ContactRequest	request = `ContactRequest()`,
		CollisionEvaluatorType	type = `CollisionEvaluatorType::DISCRETE`,
		double	longest_valid_segment_length = `0.005`,
		CollisionCheckProgramType	check_program_mode = `CollisionCheckProgramType::ALL`
	)

Definition at line 419 of file types.cpp.

Member Function Documentation

◆ operator!=()

bool tesseract_collision::CollisionCheckConfig::operator!= ( const CollisionCheckConfig & rhs ) const

Definition at line 440 of file types.cpp.

◆ operator==()

bool tesseract_collision::CollisionCheckConfig::operator== ( const CollisionCheckConfig & rhs ) const

Definition at line 430 of file types.cpp.

Member Data Documentation

◆ check_program_mode

CollisionCheckProgramType tesseract_collision::CollisionCheckConfig::check_program_mode { CollisionCheckProgramType::ALL }

Secifies the mode used when collision checking program/trajectory. Default: ALL.

Definition at line 486 of file types.h.

◆ contact_request

ContactRequest tesseract_collision::CollisionCheckConfig::contact_request

ContactRequest that will be used for this check. Default test type: ALL.

Definition at line 477 of file types.h.

◆ longest_valid_segment_length

double tesseract_collision::CollisionCheckConfig::longest_valid_segment_length { 0.005 }

Longest valid segment to use if type supports lvs. Default: 0.005.

Definition at line 483 of file types.h.

◆ type

CollisionEvaluatorType tesseract_collision::CollisionCheckConfig::type { CollisionEvaluatorType::DISCRETE }

Specifies the type of collision check to be performed. Default: DISCRETE.

Definition at line 480 of file types.h.

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

Public Member Functions

Public Attributes