moveit2
The MoveIt Motion Planning Framework for ROS 2.
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>

Collaboration diagram for collision_detection::CollisionResult:
Collaboration graph
[legend]

Public Types

using ContactMap = std::map< std::pair< std::string, std::string >, std::vector< Contact > >
 A map returning the pairs of body ids in contact, plus their contact details. More...
 

Public Member Functions

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

Public Attributes

bool collision = false
 True if collision was found, false otherwise. More...
 
double distance = std::numeric_limits<double>::max()
 Closest distance between two bodies. More...
 
DistanceResult distance_result
 Distance data for each link. More...
 
std::size_t contact_count = 0
 Number of contacts returned. More...
 
ContactMap contacts
 
std::set< CostSourcecost_sources
 These are the individual cost sources when costs are computed. More...
 

Detailed Description

Representation of a collision checking result.

Definition at line 301 of file collision_common.h.

Member Typedef Documentation

◆ ContactMap

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

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

Definition at line 332 of file collision_common.h.

Member Function Documentation

◆ clear()

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

Clear a previously stored result.

Definition at line 306 of file collision_common.h.

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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 45 of file collision_common.cpp.

Member Data Documentation

◆ collision

bool collision_detection::CollisionResult::collision = false

True if collision was found, false otherwise.

Definition at line 320 of file collision_common.h.

◆ contact_count

std::size_t collision_detection::CollisionResult::contact_count = 0

Number of contacts returned.

Definition at line 329 of file collision_common.h.

◆ contacts

ContactMap collision_detection::CollisionResult::contacts

Definition at line 333 of file 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 336 of file collision_common.h.

◆ distance

double collision_detection::CollisionResult::distance = std::numeric_limits<double>::max()

Closest distance between two bodies.

Definition at line 323 of file collision_common.h.

◆ distance_result

DistanceResult collision_detection::CollisionResult::distance_result

Distance data for each link.

Definition at line 326 of file collision_common.h.


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