collision_detection::AllowedCollision Namespace Reference

Any pair of bodies can have a collision state associated to it. More...

Enumerations
enum	Type { NEVER , ALWAYS , CONDITIONAL }

Detailed Description

Any pair of bodies can have a collision state associated to it.

Enumeration Type Documentation

Type

enum collision_detection::AllowedCollision::Type

Enumerator
NEVER	Collisions between the pair of bodies is never ok, i.e., if two bodies are in contact in a particular configuration of the robot, that configuration is considered to be in collision.
ALWAYS	Collisions between a particular pair of bodies does not imply that the robot configuration is in collision. There is no need to explicitly do a computation (to check for contacts) on this pair of bodies.
CONDITIONAL	The collision is allowed depending on a predicate evaluated on the produced contact. If the predicate returns true, this particular contact is deemed ok (or allowed), i.e., the contact does not imply that the two bodies are in collision.

Definition at line 52 of file collision_matrix.h.