mc_rbdyn::Collision Struct Reference

#include <mc_rbdyn/Collision.h>

Public Member Functions
	Collision ()
	Collision (const std::string &b1, const std::string &b2, double i, double s, double d, const std::optional< std::vector< std::string >> &r1Joints={}, const std::optional< std::vector< std::string >> &r2Joints={}, bool r1JointsInactive=false, bool r2JointsInactive=false)
bool	isNone ()
bool	operator== (const Collision &rhs) const
bool	operator!= (const Collision &rhs) const

Public Attributes
std::string	body1
std::string	body2
double	iDist
double	sDist
double	damping
std::optional< std::vector< std::string > >	r1Joints
std::optional< std::vector< std::string > >	r2Joints
bool	r1JointsInactive = false
bool	r2JointsInactive = false

Constructor & Destructor Documentation

Collision() [1/2]

mc_rbdyn::Collision::Collision ( )

inline

Collision() [2/2]

mc_rbdyn::Collision::Collision ( const std::string &  b1, const std::string &  b2, double  i, double  s, double  d, const std::optional< std::vector< std::string >> &  r1Joints = {}, const std::optional< std::vector< std::string >> &  r2Joints = {}, bool  r1JointsInactive = false, bool  r2JointsInactive = false  )

inline

Member Function Documentation

isNone()

bool mc_rbdyn::Collision::isNone ( )

inline

When true the selected joints in r2ActiveJoints are considered inactive

operator!=()

bool mc_rbdyn::Collision::operator!=

(

const Collision &

rhs

)

const

operator==()

bool mc_rbdyn::Collision::operator==

(

const Collision &

rhs

)

const

Member Data Documentation

body1

std::string mc_rbdyn::Collision::body1

body2

std::string mc_rbdyn::Collision::body2

First body in the constraint

damping

double mc_rbdyn::Collision::damping

Security distance

iDist

double mc_rbdyn::Collision::iDist

Second body in the constraint

r1Joints

std::optional<std::vector<std::string> > mc_rbdyn::Collision::r1Joints

Damping (0 is automatic) Active/Inactive joints in the first robot:

• no value specified = all joints selected
• value specified:
  • if r1JointsInactive = false : specified joints are treated as active
  • if r1JointsInactive = true : specified joints are treated as inactive

r1JointsInactive

bool mc_rbdyn::Collision::r1JointsInactive = false

Active/Inactive joints in the second robot, ignored if r1 == r2

r2Joints

std::optional<std::vector<std::string> > mc_rbdyn::Collision::r2Joints

r2JointsInactive

bool mc_rbdyn::Collision::r2JointsInactive = false

When true the selected joints in r1ActiveJoints are considered inactive

sDist

double mc_rbdyn::Collision::sDist

Interaction distance

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

• include/mc_rbdyn/Collision.h