moveit.core.collision_detection
Classes
Definition of a structure for the allowed collision matrix. |
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Representation of a collision checking request. |
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Representation of a collision checking result. |
- class moveit.core.collision_detection.AllowedCollisionMatrix
Definition of a structure for the allowed collision matrix. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not.
- clear()
Clear the allowed collision matrix.
- get_entry()
Get the allowed collision entry for a pair of objects.
- Parameters
name1 (str) – The name of the first object.
name2 (str) – The name of the second object.
- Returns
(bool, str) – Whether the collision is allowed and the type of allowed collision.
- remove_entry()
Remove an entry corresponding to a pair of elements. Nothing happens if the pair does not exist in the collision matrix.
- Parameters
name1 (str) – The name of the first object.
name2 (str) – The name of the second object.
- set_entry()
Set the allowed collision state between two objects.
- Parameters
name1 (str) – The name of the first object.
name2 (str) – The name of the second object.
allowed (bool) – If true, indicates that the collision between the two objects is allowed. If false, indicates that the collision between the two objects is not allowed.
- class moveit.core.collision_detection.CollisionRequest
Representation of a collision checking request.
- property contacts
If true, compute contacts.
- Type
bool
- property cost
If true, a collision cost is computed.
- Type
bool
- property distance
If true, compute proximity distance.
- Type
bool
- property joint_model_group_name
The group name to check collisions for (optional; if empty, assume the complete robot)
- Type
str
- property max_contacts
Overall maximum number of contacts to compute.
- Type
int
- property max_contacts_per_pair
Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations).
- Type
int
- property max_cost_sources
When costs are computed, this value defines how many of the top cost sources should be returned.
- Type
int
- property verbose
Flag indicating whether information about detected collisions should be reported.
- Type
bool
- class moveit.core.collision_detection.CollisionResult
Representation of a collision checking result.
- property collision
True if collision was found, false otherwise.
- Type
bool
- property contact_count
Number of contacts returned.
- Type
int
- property contacts
A dict returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.
- Type
dict
- property cost_sources
The individual cost sources from computed costs.
- Type
dict
- property distance
Closest distance between two bodies.
- Type
float