Representation of a distance-reporting request. More...
#include <collision_common.h>
Public Member Functions | |
| DistanceRequest () | |
| void | enableGroup (const moveit::core::RobotModelConstPtr &robot_model) |
| Compute active_components_only_ based on req_. More... | |
Public Attributes | |
| bool | enable_nearest_points |
| Indicate if nearest point information should be calculated. More... | |
| bool | enable_signed_distance |
| Indicate if a signed distance should be calculated in a collision. More... | |
| DistanceRequestType | type |
| std::size_t | max_contacts_per_body |
| Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold) More... | |
| std::string | group_name |
| The group name. More... | |
| const std::set< const moveit::core::LinkModel * > * | active_components_only |
| The set of active components to check. More... | |
| const AllowedCollisionMatrix * | acm |
| The allowed collision matrix used to filter checks. More... | |
| double | distance_threshold |
| bool | verbose |
| Log debug information. More... | |
| bool | compute_gradient |
Detailed Description
Representation of a distance-reporting request.
Definition at line 157 of file collision_common.h.
Constructor & Destructor Documentation
◆ DistanceRequest()
|
inline |
Definition at line 159 of file collision_common.h.
Member Function Documentation
◆ enableGroup()
|
inline |
Compute active_components_only_ based on req_.
Definition at line 173 of file collision_common.h.
Member Data Documentation
◆ acm
| const AllowedCollisionMatrix* collision_detection::DistanceRequest::acm |
The allowed collision matrix used to filter checks.
Definition at line 202 of file collision_common.h.
◆ active_components_only
| const std::set<const moveit::core::LinkModel*>* collision_detection::DistanceRequest::active_components_only |
The set of active components to check.
Definition at line 199 of file collision_common.h.
◆ compute_gradient
| bool collision_detection::DistanceRequest::compute_gradient |
Indicate if gradient should be calculated between each object. This is the normalized vector connecting the closest points on the two objects.
Definition at line 213 of file collision_common.h.
◆ distance_threshold
| double collision_detection::DistanceRequest::distance_threshold |
Only calculate distances for objects within this threshold to each other. If set, this can significantly reduce the number of queries.
Definition at line 206 of file collision_common.h.
◆ enable_nearest_points
| bool collision_detection::DistanceRequest::enable_nearest_points |
Indicate if nearest point information should be calculated.
Definition at line 182 of file collision_common.h.
◆ enable_signed_distance
| bool collision_detection::DistanceRequest::enable_signed_distance |
Indicate if a signed distance should be calculated in a collision.
Definition at line 185 of file collision_common.h.
◆ group_name
| std::string collision_detection::DistanceRequest::group_name |
The group name.
Definition at line 196 of file collision_common.h.
◆ max_contacts_per_body
| std::size_t collision_detection::DistanceRequest::max_contacts_per_body |
Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold)
Definition at line 193 of file collision_common.h.
◆ type
| DistanceRequestType collision_detection::DistanceRequest::type |
Indicate the type of distance request. If using type=ALL, it is recommended to set max_contacts_per_body to the expected number of contacts per pair because it is used to reserve space.
Definition at line 190 of file collision_common.h.
◆ verbose
| bool collision_detection::DistanceRequest::verbose |
Log debug information.
Definition at line 209 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
