CDInfo Struct Reference

#include <CDInfo.h>

Collaboration diagram for CDInfo:

Public Types
Local Types
typedef std::pair< int, int >	CollisionPair

Public Member Functions
Construction
	CDInfo (const bool _retAllInfo=false)
void	ResetVars (const bool _retAllInfo=false)
Ordering
bool	operator< (const CDInfo &_cdInfo) const noexcept

Data Fields
Internal State
bool	m_retAllInfo
	Consider all collisions or only the first? More...
int	m_collidingObstIndex
	Index for first discovered obstacle collision. More...
int	m_nearestObstIndex
	Index for closest obstacle. More...
double	m_minDist
	Distance between Robot and closest obstacle. More...
mathtool::Vector3d	m_robotPoint
	Closest point on Robot to closest obstacle. More...
mathtool::Vector3d	m_objectPoint
	Closest point on closest obstacle to Robot. More...
std::vector< CollisionPair >	m_trianglePairs
	All colliding triangle pairs. More...
CDClearanceMap	m_clearanceMap
	Map of detected clearances. More...

Detailed Description

Information returned by validity checkers, e.g., distance from obstacles.

Todo:

Generalize this object to store collisions with obstacles, boundaries, and other robots in a uniform way. It should contain a vector of 'Collision' structures which describe the object type, indexes, and distance for each detected collision.

Examples

CollisionDetection_UseCase.cpp, and ValidityCheckers_UseCase.cpp.

Member Typedef Documentation

CollisionPair

typedef std::pair<int, int> CDInfo::CollisionPair

A pair of triangle indexes on the robot (first) and obstacle (second) in a discovered collision.

Constructor & Destructor Documentation

CDInfo()

CDInfo::CDInfo

(

const bool

_retAllInfo = false

)

Parameters

_retAllInfo

Compute distance information if possible

Member Function Documentation

operator<()

bool CDInfo::operator< ( const CDInfo &  _cdInfo ) const

noexcept

Order these objects according to the minimum distance from closest colliding obstacle.

Parameters

_cdInfo

Other CDInfo

Returns

True if minimum distance is less than other's minimum distance.

ResetVars()

void CDInfo::ResetVars

(

const bool

_retAllInfo = false

)

Reset object to default state.

Parameters

_retAllInfo

Compute distance information if possible

Field Documentation

m_clearanceMap

CDClearanceMap CDInfo::m_clearanceMap

Map of detected clearances.

m_collidingObstIndex

int CDInfo::m_collidingObstIndex

Index for first discovered obstacle collision.

m_minDist

double CDInfo::m_minDist

Distance between Robot and closest obstacle.

m_nearestObstIndex

int CDInfo::m_nearestObstIndex

Index for closest obstacle.

m_objectPoint

mathtool::Vector3d CDInfo::m_objectPoint

Closest point on closest obstacle to Robot.

m_retAllInfo

bool CDInfo::m_retAllInfo

Consider all collisions or only the first?

m_robotPoint

mathtool::Vector3d CDInfo::m_robotPoint

Closest point on Robot to closest obstacle.

m_trianglePairs

std::vector<CollisionPair> CDInfo::m_trianglePairs

All colliding triangle pairs.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/ValidityCheckers/CollisionDetection/CDInfo.cpp