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The MoveIt Motion Planning Framework for ROS 2.
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collision_detection::CollisionRequest Struct Reference

Representation of a collision checking request. More...

#include <collision_common.h>

Public Member Functions

 CollisionRequest ()
 
virtual ~CollisionRequest ()
 

Public Attributes

std::string group_name
 The group name to check collisions for (optional; if empty, assume the complete robot) More...
 
bool distance
 If true, compute proximity distance. More...
 
bool detailed_distance = false
 If true, return detailed distance information. Distance must be set to true as well. More...
 
bool cost
 If true, a collision cost is computed. More...
 
bool contacts
 If true, compute contacts. Otherwise only a binary collision yes/no is reported. More...
 
std::size_t max_contacts
 Overall maximum number of contacts to compute. More...
 
std::size_t max_contacts_per_pair
 Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations) More...
 
std::size_t max_cost_sources
 When costs are computed, this value defines how many of the top cost sources should be returned. More...
 
std::function< bool(const CollisionResult &)> is_done
 Function call that decides whether collision detection should stop. More...
 
bool verbose
 Flag indicating whether information about detected collisions should be reported. More...
 

Detailed Description

Representation of a collision checking request.

Definition at line 340 of file collision_common.h.

Constructor & Destructor Documentation

◆ CollisionRequest()

collision_detection::CollisionRequest::CollisionRequest ( )
inline

Definition at line 342 of file collision_common.h.

◆ ~CollisionRequest()

virtual collision_detection::CollisionRequest::~CollisionRequest ( )
inlinevirtual

Definition at line 352 of file collision_common.h.

Member Data Documentation

◆ contacts

bool collision_detection::CollisionRequest::contacts

If true, compute contacts. Otherwise only a binary collision yes/no is reported.

Definition at line 369 of file collision_common.h.

◆ cost

bool collision_detection::CollisionRequest::cost

If true, a collision cost is computed.

Definition at line 366 of file collision_common.h.

◆ detailed_distance

bool collision_detection::CollisionRequest::detailed_distance = false

If true, return detailed distance information. Distance must be set to true as well.

Definition at line 363 of file collision_common.h.

◆ distance

bool collision_detection::CollisionRequest::distance

If true, compute proximity distance.

Definition at line 360 of file collision_common.h.

◆ group_name

std::string collision_detection::CollisionRequest::group_name

The group name to check collisions for (optional; if empty, assume the complete robot)

Definition at line 357 of file collision_common.h.

◆ is_done

std::function<bool(const CollisionResult&)> collision_detection::CollisionRequest::is_done

Function call that decides whether collision detection should stop.

Definition at line 382 of file collision_common.h.

◆ max_contacts

std::size_t collision_detection::CollisionRequest::max_contacts

Overall maximum number of contacts to compute.

Definition at line 372 of file collision_common.h.

◆ max_contacts_per_pair

std::size_t collision_detection::CollisionRequest::max_contacts_per_pair

Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)

Definition at line 376 of file collision_common.h.

◆ max_cost_sources

std::size_t collision_detection::CollisionRequest::max_cost_sources

When costs are computed, this value defines how many of the top cost sources should be returned.

Definition at line 379 of file collision_common.h.

◆ verbose

bool collision_detection::CollisionRequest::verbose

Flag indicating whether information about detected collisions should be reported.

Definition at line 385 of file collision_common.h.


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