tesseract_collision::ContactResult Struct Reference

#include <types.h>

Collaboration diagram for tesseract_collision::ContactResult:

Public Member Functions
	ContactResult ()=default
void	clear ()
	reset to default values More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW double	distance { std::numeric_limits<double>::max() }
	The distance between two links. More...
std::array< int, 2 >	type_id { 0, 0 }
	A user defined type id that is added to the contact shapes. More...
std::array< std::string, 2 >	link_names
	The two links that are in contact. More...
std::array< int, 2 >	shape_id { -1, -1 }
	The two shapes that are in contact. Each link can be made up of multiple shapes. More...
std::array< int, 2 >	subshape_id { -1, -1 }
	Some shapes like octomap and mesh have subshape (boxes and triangles) More...
std::array< Eigen::Vector3d, 2 >	nearest_points { Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero() }
	The nearest point on both links in world coordinates. More...
std::array< Eigen::Vector3d, 2 >	nearest_points_local { Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero() }
	The nearest point on both links in local(link) coordinates. More...
std::array< Eigen::Isometry3d, 2 >	transform { Eigen::Isometry3d::Identity(), Eigen::Isometry3d::Identity() }
	The transform of link in world coordinates. More...
Eigen::Vector3d	normal { Eigen::Vector3d::Zero() }
	The normal vector to move the two objects out of contact in world coordinates. More...
std::array< double, 2 >	cc_time { -1, -1 }
	This is between 0 and 1 indicating the point of contact. More...
std::array< ContinuousCollisionType, 2 >	cc_type
	The type of continuous contact. More...
std::array< Eigen::Isometry3d, 2 >	cc_transform { Eigen::Isometry3d::Identity(), Eigen::Isometry3d::Identity() }
	The transform of link in world coordinates at its desired final location. Note: This is not the location of the link at the point of contact but the final location the link when performing continuous collision checking. If you desire the location of contact use cc_time and interpolate between transform and cc_transform;. More...
bool	single_contact_point { false }
	Some collision checkers only provide a single contact point for a given pair. This is used to indicate if only one contact point is provided which means nearest_points[0] must equal nearest_points[1]. More...

Constructor & Destructor Documentation

ContactResult()

tesseract_collision::ContactResult::ContactResult ( )

default

Member Function Documentation

clear()

void tesseract_collision::ContactResult::clear

(

)

reset to default values

Member Data Documentation

cc_time

std::array<double, 2> tesseract_collision::ContactResult::cc_time { -1, -1 }

This is between 0 and 1 indicating the point of contact.

cc_transform

std::array<Eigen::Isometry3d, 2> tesseract_collision::ContactResult::cc_transform { Eigen::Isometry3d::Identity(), Eigen::Isometry3d::Identity() }

The transform of link in world coordinates at its desired final location. Note: This is not the location of the link at the point of contact but the final location the link when performing continuous collision checking. If you desire the location of contact use cc_time and interpolate between transform and cc_transform;.

cc_type

std::array<ContinuousCollisionType, 2> tesseract_collision::ContactResult::cc_type

Initial value:

{ ContinuousCollisionType::CCType_None,
                                                  ContinuousCollisionType::CCType_None }

The type of continuous contact.

distance

EIGEN_MAKE_ALIGNED_OPERATOR_NEW double tesseract_collision::ContactResult::distance { std::numeric_limits<double>::max() }

The distance between two links.

link_names

std::array<std::string, 2> tesseract_collision::ContactResult::link_names

The two links that are in contact.

nearest_points

std::array<Eigen::Vector3d, 2> tesseract_collision::ContactResult::nearest_points { Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero() }

The nearest point on both links in world coordinates.

nearest_points_local

std::array<Eigen::Vector3d, 2> tesseract_collision::ContactResult::nearest_points_local { Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero() }

The nearest point on both links in local(link) coordinates.

normal

Eigen::Vector3d tesseract_collision::ContactResult::normal { Eigen::Vector3d::Zero() }

The normal vector to move the two objects out of contact in world coordinates.

Note

This points from link_name[0] to link_name[1], so it shows the direction to move link_name[1] to avoid or get out of collision with link_name[0].

shape_id

std::array<int, 2> tesseract_collision::ContactResult::shape_id { -1, -1 }

The two shapes that are in contact. Each link can be made up of multiple shapes.

single_contact_point

bool tesseract_collision::ContactResult::single_contact_point { false }

Some collision checkers only provide a single contact point for a given pair. This is used to indicate if only one contact point is provided which means nearest_points[0] must equal nearest_points[1].

subshape_id

std::array<int, 2> tesseract_collision::ContactResult::subshape_id { -1, -1 }

Some shapes like octomap and mesh have subshape (boxes and triangles)

transform

std::array<Eigen::Isometry3d, 2> tesseract_collision::ContactResult::transform { Eigen::Isometry3d::Identity(), Eigen::Isometry3d::Identity() }

The transform of link in world coordinates.

type_id

std::array<int, 2> tesseract_collision::ContactResult::type_id { 0, 0 }

A user defined type id that is added to the contact shapes.

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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