collision_margin_data.h File Reference

This is used to store collision margin information. More...

#include <tesseract/common/macros.h>
#include <Eigen/Core>
#include <string>
#include <unordered_map>
#include <optional>
#include <tesseract/common/types.h>
#include <tesseract/common/utils.h>

Classes
class	tesseract::common::CollisionMarginPairData
class	tesseract::common::CollisionMarginData
	Stores information about how the margins allowed between collision objects. More...

Typedefs
using	tesseract::common::PairsCollisionMarginData = std::unordered_map< tesseract::common::LinkNamesPair, double >

Enumerations
enum class	tesseract::common::CollisionMarginPairOverrideType : std::uint8_t { NONE , REPLACE , MODIFY }
	Identifies how the provided contact margin data should be applied. More...

Functions
template<class Archive >
void	tesseract::common::serialize (Archive &ar, CollisionMarginPairData &obj)
template<class Archive >
void	tesseract::common::serialize (Archive &ar, CollisionMarginData &obj)

Detailed Description

This is used to store collision margin information.

It should be used to perform continuous contact checking.

Author

Levi Armstrong

Date

January 18, 2018

Copyright

Copyright (c) 2018, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Enumeration Type Documentation

CollisionMarginPairOverrideType

enum class tesseract::common::CollisionMarginPairOverrideType : std::uint8_t

strong

Identifies how the provided contact margin data should be applied.

Enumerator
NONE	Do not apply contact margin data.
REPLACE	Replace the contact manager's CollisionMarginPairData.
MODIFY	Modify the contact managers pair margins. This will preserve existing pairs not being modified by the provided margin data. If a pair already exist it will be updated with the provided margin data.