tesseract_collision::ContactManagerConfig Struct Reference

Contains parameters used to configure a contact manager before a series of contact checks. More...

#include <types.h>

Collaboration diagram for tesseract_collision::ContactManagerConfig:

Public Member Functions
	ContactManagerConfig ()=default
	ContactManagerConfig (double default_margin)

Public Attributes
CollisionMarginOverrideType	margin_data_override_type { CollisionMarginOverrideType::NONE }
	Identify how the collision margin data should be applied to the contact manager. More...
CollisionMarginData	margin_data
	Stores information about how the margins allowed between collision objects. More...
tesseract_common::AllowedCollisionMatrix	acm
	Additional AllowedCollisionMatrix to consider for this collision check. More...
ACMOverrideType	acm_override_type { ACMOverrideType::OR }
	Specifies how to combine the IsContactAllowedFn from acm with the one preset in the contact manager. More...
std::unordered_map< std::string, bool >	modify_object_enabled
	Each key is an object name. Objects will be enabled/disabled based on the value. Objects that aren't in the map are unmodified from the defaults. More...

Detailed Description

Contains parameters used to configure a contact manager before a series of contact checks.

It should not contain information that is usually specific to a single contactTest such as CollisionObjectTransforms or specific to the way contactTests are carried out such as LVS parameters

Note

Active links were not added to this config since this config could be shared by multiple manipulators, and those are set based on which one is being checked

Constructor & Destructor Documentation

ContactManagerConfig() [1/2]

tesseract_collision::ContactManagerConfig::ContactManagerConfig ( )

default

ContactManagerConfig() [2/2]

tesseract_collision::ContactManagerConfig::ContactManagerConfig

(

double

default_margin

)

Member Data Documentation

acm

tesseract_common::AllowedCollisionMatrix tesseract_collision::ContactManagerConfig::acm

Additional AllowedCollisionMatrix to consider for this collision check.

acm_override_type

ACMOverrideType tesseract_collision::ContactManagerConfig::acm_override_type { ACMOverrideType::OR }

Specifies how to combine the IsContactAllowedFn from acm with the one preset in the contact manager.

margin_data

CollisionMarginData tesseract_collision::ContactManagerConfig::margin_data

Stores information about how the margins allowed between collision objects.

margin_data_override_type

CollisionMarginOverrideType tesseract_collision::ContactManagerConfig::margin_data_override_type { CollisionMarginOverrideType::NONE }

Identify how the collision margin data should be applied to the contact manager.

modify_object_enabled

std::unordered_map<std::string, bool> tesseract_collision::ContactManagerConfig::modify_object_enabled

Each key is an object name. Objects will be enabled/disabled based on the value. Objects that aren't in the map are unmodified from the defaults.

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The documentation for this struct was generated from the following files:

• tesseract_collision/core/include/tesseract_collision/core/types.h
• tesseract_collision/core/src/types.cpp