Representation of a collision checking request. More...

#include <collision_common.h>

Public Attributes
std::string	group_name = ""
	The group name to check collisions for (optional; if empty, assume the complete robot). Descendent links are included.

bool	distance = false
	If true, compute proximity distance.

bool	detailed_distance = false
	If true, return detailed distance information. Distance must be set to true as well.

bool	cost = false
	If true, a collision cost is computed.

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

std::size_t	max_contacts = 1
	Overall maximum number of contacts to compute.

std::size_t	max_contacts_per_pair = 1
	Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations)

std::size_t	max_cost_sources = 1
	When costs are computed, this value defines how many of the top cost sources should be returned.

std::function< bool(const CollisionResult &)>	is_done = nullptr
	Function call that decides whether collision detection should stop.

bool	verbose = false
	Flag indicating whether information about detected collisions should be reported.

Detailed Description

Representation of a collision checking request.

Definition at line 147 of file collision_common.h.

Member Data Documentation

◆ contacts

bool collision_detection::CollisionRequest::contacts = false

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

Definition at line 163 of file collision_common.h.

◆ cost

bool collision_detection::CollisionRequest::cost = false

If true, a collision cost is computed.

Definition at line 160 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 157 of file collision_common.h.

◆ distance

bool collision_detection::CollisionRequest::distance = false

If true, compute proximity distance.

Definition at line 154 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). Descendent links are included.

Definition at line 151 of file collision_common.h.

◆ is_done

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

Function call that decides whether collision detection should stop.

Definition at line 176 of file collision_common.h.

◆ max_contacts

std::size_t collision_detection::CollisionRequest::max_contacts = 1

Overall maximum number of contacts to compute.

Definition at line 166 of file collision_common.h.

◆ max_contacts_per_pair

std::size_t collision_detection::CollisionRequest::max_contacts_per_pair = 1

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

Definition at line 170 of file collision_common.h.

◆ max_cost_sources

std::size_t collision_detection::CollisionRequest::max_cost_sources = 1

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

Definition at line 173 of file collision_common.h.

◆ verbose

bool collision_detection::CollisionRequest::verbose = false

Flag indicating whether information about detected collisions should be reported.

Definition at line 179 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 Attributes