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:

moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h

Public Member Functions

Public Attributes