Holds information about a particular collision that occured. More...
#include <collisionchecker.h>
Classes | |
class | CONTACT |
Public Member Functions | |
CollisionReport () | |
virtual void | Reset (int coloptions=0) |
virtual std::string | __str__ () const |
Public Attributes | |
int | options |
the options that the CollisionReport was called with | |
KinBody::LinkConstPtr | plink1 |
KinBody::LinkConstPtr | plink2 |
the colliding links if a collision involves a bodies. Collisions do not always occur with 2 bodies like ray collisions, so these fields can be empty. | |
int | numCols |
this is the number of objects that collide with the object of interest | |
std::vector < KinBody::LinkConstPtr > | vLinkColliding |
objects colliding with this object | |
dReal | minDistance |
minimum distance from last query, filled if CO_Distance option is set | |
int | numWithinTol |
number of objects within tolerance of this object, filled if CO_UseTolerance option is set | |
std::vector< CONTACT > | contacts |
the convention is that the normal will be "out" of plink1's surface. Filled if CO_UseContacts option is set. | |
Holds information about a particular collision that occured.
Definition at line 52 of file collisionchecker.h.
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inline |
Definition at line 55 of file collisionchecker.h.
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virtual |
Definition at line 1638 of file libopenrave.cpp.
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virtual |
Definition at line 1628 of file libopenrave.cpp.
std::vector<CONTACT> OpenRAVE::CollisionReport::contacts |
the convention is that the normal will be "out" of plink1's surface. Filled if CO_UseContacts option is set.
Definition at line 84 of file collisionchecker.h.
dReal OpenRAVE::CollisionReport::minDistance |
minimum distance from last query, filled if CO_Distance option is set
Definition at line 81 of file collisionchecker.h.
int OpenRAVE::CollisionReport::numCols |
this is the number of objects that collide with the object of interest
Definition at line 78 of file collisionchecker.h.
int OpenRAVE::CollisionReport::numWithinTol |
number of objects within tolerance of this object, filled if CO_UseTolerance option is set
Definition at line 82 of file collisionchecker.h.
int OpenRAVE::CollisionReport::options |
the options that the CollisionReport was called with
Definition at line 73 of file collisionchecker.h.
KinBody::LinkConstPtr OpenRAVE::CollisionReport::plink1 |
Definition at line 75 of file collisionchecker.h.
KinBody::LinkConstPtr OpenRAVE::CollisionReport::plink2 |
the colliding links if a collision involves a bodies. Collisions do not always occur with 2 bodies like ray collisions, so these fields can be empty.
Definition at line 75 of file collisionchecker.h.
std::vector<KinBody::LinkConstPtr> OpenRAVE::CollisionReport::vLinkColliding |
objects colliding with this object
Definition at line 79 of file collisionchecker.h.