Representation of a collision checking result. More...

#include <collision_common.h>

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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.

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	clear ()
	Clear a previously stored result.

void	print () const
	Throttled warning printing the first collision pair, if any. All collisions are logged at DEBUG level.

Public Attributes
bool	collision = false
	True if collision was found, false otherwise.

double	distance = std::numeric_limits<double>::max()
	Closest distance between two bodies.

DistanceResult	distance_result
	Distance data for each link.

std::size_t	contact_count = 0
	Number of contacts returned.

ContactMap	contacts

std::set< CostSource >	cost_sources
	These are the individual cost sources when costs are computed.

Detailed Description

Representation of a collision checking result.

Definition at line 334 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 365 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 339 of file collision_common.h.

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◆ 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 53 of file collision_common.cpp.

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Member Data Documentation

◆ collision

bool collision_detection::CollisionResult::collision = false

True if collision was found, false otherwise.

Definition at line 353 of file collision_common.h.

◆ contact_count

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

Number of contacts returned.

Definition at line 362 of file collision_common.h.

◆ contacts

ContactMap collision_detection::CollisionResult::contacts

Definition at line 366 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 369 of file collision_common.h.

◆ distance

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

Closest distance between two bodies.

Definition at line 356 of file collision_common.h.

◆ distance_result

DistanceResult collision_detection::CollisionResult::distance_result

Distance data for each link.

Definition at line 359 of file collision_common.h.

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

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

Public Types

Public Member Functions

Public Attributes