collision_detection::CollisionData Struct Reference

Data structure which is passed to the collision callback function of the collision manager. More...

#include <collision_common.h>

Collaboration diagram for collision_detection::CollisionData:

Public Member Functions
	CollisionData ()
	CollisionData (const CollisionRequest *req, CollisionResult *res, const AllowedCollisionMatrix *acm)
	~CollisionData ()
void	enableGroup (const moveit::core::RobotModelConstPtr &robot_model)
	Compute active_components_only_ based on the joint group specified in req_.

Public Attributes
const CollisionRequest *	req_
	The collision request passed by the user.
const std::set< const moveit::core::LinkModel * > *	active_components_only_
	If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision.
CollisionResult *	res_
	The user-specified response location.
const AllowedCollisionMatrix *	acm_
	The user-specified collision matrix (may be nullptr).
bool	done_
	Flag indicating whether collision checking is complete.

Detailed Description

Data structure which is passed to the collision callback function of the collision manager.

Definition at line 141 of file collision_common.h.

Constructor & Destructor Documentation

CollisionData() [1/2]

collision_detection::CollisionData::CollisionData ( )

inline

Definition at line 143 of file collision_common.h.

CollisionData() [2/2]

collision_detection::CollisionData::CollisionData ( const CollisionRequest *  req, CollisionResult *  res, const AllowedCollisionMatrix *  acm  )

inline

Definition at line 147 of file collision_common.h.

~CollisionData()

collision_detection::CollisionData::~CollisionData ( )

inline

Definition at line 152 of file collision_common.h.

Member Function Documentation

enableGroup()

void collision_detection::CollisionData::enableGroup

(

const moveit::core::RobotModelConstPtr &

robot_model

)

Compute active_components_only_ based on the joint group specified in req_.

Definition at line 993 of file collision_common.cpp.

Here is the caller graph for this function:

Member Data Documentation

acm_

const AllowedCollisionMatrix* collision_detection::CollisionData::acm_

The user-specified collision matrix (may be nullptr).

Definition at line 172 of file collision_common.h.

active_components_only_

const std::set<const moveit::core::LinkModel*>* collision_detection::CollisionData::active_components_only_

If the collision request includes a group name, this set contains the pointers to the link models that are considered for collision.

If the pointer is nullptr, all collisions are considered.

Definition at line 166 of file collision_common.h.

done_

bool collision_detection::CollisionData::done_

Flag indicating whether collision checking is complete.

Definition at line 175 of file collision_common.h.

req_

const CollisionRequest* collision_detection::CollisionData::req_

The collision request passed by the user.

Definition at line 160 of file collision_common.h.

res_

CollisionResult* collision_detection::CollisionData::res_

The user-specified response location.

Definition at line 169 of file collision_common.h.

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

• moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
• moveit_core/collision_detection_fcl/src/collision_common.cpp