tesseract_collision::CollisionCheckConfig Struct Reference

This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure. More...

#include <types.h>

Collaboration diagram for tesseract_collision::CollisionCheckConfig:

Public Member Functions
	CollisionCheckConfig ()=default
	CollisionCheckConfig (double default_margin, ContactRequest request=ContactRequest(), CollisionEvaluatorType type=CollisionEvaluatorType::DISCRETE, double longest_valid_segment_length=0.005)

Public Attributes
ContactManagerConfig	contact_manager_config
	Used to configure the contact manager prior to a series of checks. More...
ContactRequest	contact_request
	ContactRequest that will be used for this check. Default test type: FIRST. More...
CollisionEvaluatorType	type { CollisionEvaluatorType::DISCRETE }
	Specifies the type of collision check to be performed. Default: DISCRETE. More...
double	longest_valid_segment_length { 0.005 }
	Longest valid segment to use if type supports lvs. Default: 0.005. More...

Detailed Description

This is a high level structure containing common information that collision checking utilities need. The goal of this config is to allow all collision checking utilities and planners to use the same data structure.

Constructor & Destructor Documentation

CollisionCheckConfig() [1/2]

tesseract_collision::CollisionCheckConfig::CollisionCheckConfig ( )

default

CollisionCheckConfig() [2/2]

tesseract_collision::CollisionCheckConfig::CollisionCheckConfig	(	double	default_margin,
		ContactRequest	request = ContactRequest(),
		CollisionEvaluatorType	type = CollisionEvaluatorType::DISCRETE,
		double	longest_valid_segment_length = 0.005
	)

Member Data Documentation

contact_manager_config

ContactManagerConfig tesseract_collision::CollisionCheckConfig::contact_manager_config

Used to configure the contact manager prior to a series of checks.

contact_request

ContactRequest tesseract_collision::CollisionCheckConfig::contact_request

ContactRequest that will be used for this check. Default test type: FIRST.

longest_valid_segment_length

double tesseract_collision::CollisionCheckConfig::longest_valid_segment_length { 0.005 }

Longest valid segment to use if type supports lvs. Default: 0.005.

type

CollisionEvaluatorType tesseract_collision::CollisionCheckConfig::type { CollisionEvaluatorType::DISCRETE }

Specifies the type of collision check to be performed. Default: DISCRETE.

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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