Representation of a distance-reporting request. More...
#include <collision_common.h>
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. More... | |
| bool | enable_signed_distance = false |
| Indicate if a signed distance should be calculated in a collision. More... | |
| 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) More... | |
| std::string | group_name = "" |
| The group name. More... | |
| const std::set< const moveit::core::LinkModel * > * | active_components_only = nullptr |
| The set of active components to check. More... | |
| const AllowedCollisionMatrix * | acm = nullptr |
| The allowed collision matrix used to filter checks. More... | |
| double | distance_threshold = std::numeric_limits<double>::max() |
| bool | verbose = false |
| Log debug information. More... | |
| bool | compute_gradient = false |
Detailed Description
Representation of a distance-reporting request.
Definition at line 201 of file collision_common.h.
Member Function Documentation
◆ enableGroup()
|
inline |
Member Data Documentation
◆ acm
| const AllowedCollisionMatrix* collision_detection::DistanceRequest::acm = nullptr |
The allowed collision matrix used to filter checks.
Definition at line 239 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 236 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 250 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 243 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 219 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 222 of file collision_common.h.
◆ group_name
| std::string collision_detection::DistanceRequest::group_name = "" |
The group name.
Definition at line 233 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 230 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 227 of file collision_common.h.
◆ verbose
| bool collision_detection::DistanceRequest::verbose = false |
Log debug information.
Definition at line 246 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
