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OpenRAVE::CollisionReport Class Reference

Holds information about a particular collision that occured. More...

#include <collisionchecker.h>

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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< CONTACTcontacts
 the convention is that the normal will be "out" of plink1's surface. Filled if CO_UseContacts option is set.
 

Detailed Description

Holds information about a particular collision that occured.

Examples:
orcollision.cpp.

Definition at line 52 of file collisionchecker.h.

Constructor & Destructor Documentation

OpenRAVE::CollisionReport::CollisionReport ( )
inline

Definition at line 55 of file collisionchecker.h.

Member Function Documentation

std::string OpenRAVE::CollisionReport::__str__ ( ) const
virtual

Definition at line 1638 of file libopenrave.cpp.

void OpenRAVE::CollisionReport::Reset ( int  coloptions = 0)
virtual

Definition at line 1628 of file libopenrave.cpp.

Member Data Documentation

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.


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