When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume. More...

Public Member Functions
double	getVolume () const
	Get the volume of the AABB around the cost source.

bool	operator< (const CostSource &other) const
	Order cost sources so that the most costly source is at the top.

Public Attributes
std::array< double, 3 >	aabb_min
	The minimum bound of the AABB defining the volume responsible for this partial cost.

std::array< double, 3 >	aabb_max
	The maximum bound of the AABB defining the volume responsible for this partial cost.

double	cost = 0.0
	The partial cost (the probability of existence for the object there is a collision with)

Detailed Description

When collision costs are computed, this structure contains information about the partial cost incurred in a particular volume.

Definition at line 110 of file collision_common.h.

Member Function Documentation

double collision_detection::CostSource::getVolume ( ) const

inline

Get the volume of the AABB around the cost source.

Definition at line 122 of file collision_common.h.

Here is the caller graph for this function:

bool collision_detection::CostSource::operator< ( const CostSource & other ) const

inline

Order cost sources so that the most costly source is at the top.

Definition at line 128 of file collision_common.h.

Here is the call graph for this function:

std::array<double, 3> collision_detection::CostSource::aabb_max

The maximum bound of the AABB defining the volume responsible for this partial cost.

Definition at line 116 of file collision_common.h.

std::array<double, 3> collision_detection::CostSource::aabb_min

The minimum bound of the AABB defining the volume responsible for this partial cost.

Definition at line 113 of file collision_common.h.

double collision_detection::CostSource::cost = 0.0

The partial cost (the probability of existence for the object there is a collision with)

Definition at line 119 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