Representation of a distance-reporting request. More...

#include <collision_common.h>

Collaboration diagram for collision_detection::DistanceRequest:

Public Member Functions
void	enableGroup (const moveit::core::RobotModelConstPtr &robot_model)

Public Attributes
bool	enable_nearest_points = false
	Indicate if nearest point information should be calculated.

bool	enable_signed_distance = false
	Indicate if a signed distance should be calculated in a collision.

DistanceRequestType	type = DistanceRequestType::GLOBAL

std::size_t	max_contacts_per_body = 1
	Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold)

std::string	group_name = ""
	The group name.

const std::set< const moveit::core::LinkModel * > *	active_components_only = nullptr
	The set of active components to check.

const AllowedCollisionMatrix *	acm = nullptr
	The allowed collision matrix used to filter checks.

double	distance_threshold = std::numeric_limits<double>::max()

bool	verbose = false
	Log debug information.

bool	compute_gradient = false

Detailed Description

Representation of a distance-reporting request.

Definition at line 195 of file collision_common.h.

Member Function Documentation

◆ enableGroup()

void collision_detection::DistanceRequest::enableGroup ( const moveit::core::RobotModelConstPtr & robot_model )

inline

Definition at line 200 of file collision_common.h.

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Member Data Documentation

◆ acm

const AllowedCollisionMatrix* collision_detection::DistanceRequest::acm = nullptr

The allowed collision matrix used to filter checks.

Definition at line 233 of file collision_common.h.

◆ active_components_only

const std::set<const moveit::core::LinkModel*>* collision_detection::DistanceRequest::active_components_only = nullptr

The set of active components to check.

Definition at line 230 of file collision_common.h.

◆ compute_gradient

bool collision_detection::DistanceRequest::compute_gradient = false

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 244 of file collision_common.h.

◆ distance_threshold

double collision_detection::DistanceRequest::distance_threshold = std::numeric_limits<double>::max()

Only calculate distances for objects within this threshold to each other. If set, this can significantly reduce the number of queries.

Definition at line 237 of file collision_common.h.

◆ enable_nearest_points

bool collision_detection::DistanceRequest::enable_nearest_points = false

Indicate if nearest point information should be calculated.

Definition at line 213 of file collision_common.h.

◆ enable_signed_distance

bool collision_detection::DistanceRequest::enable_signed_distance = false

Indicate if a signed distance should be calculated in a collision.

Definition at line 216 of file collision_common.h.

◆ group_name

std::string collision_detection::DistanceRequest::group_name = ""

The group name.

Definition at line 227 of file collision_common.h.

◆ max_contacts_per_body

std::size_t collision_detection::DistanceRequest::max_contacts_per_body = 1

Maximum number of contacts to store for bodies (multiple bodies may be within distance threshold)

Definition at line 224 of file collision_common.h.

◆ type

DistanceRequestType collision_detection::DistanceRequest::type = DistanceRequestType::GLOBAL

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 221 of file collision_common.h.

◆ verbose

bool collision_detection::DistanceRequest::verbose = false

Log debug information.

Definition at line 240 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 Member Functions

Public Attributes