Detailed Description

A set of common constructor parameters for a CollisionChecker.

Not all subclasses of CollisionChecker will necessarily support this configuration struct, but many do so.

#include <drake/planning/collision_checker_params.h>

Public Attributes
std::unique_ptr< RobotDiagram< double > >	model
	A RobotDiagram model of the robot and environment. More...

std::shared_ptr< const DistanceAndInterpolationProvider >	distance_and_interpolation_provider
	A DistanceAndInterpolationProvider to support configuration distance and interpolation operations. More...

std::vector< drake::multibody::ModelInstanceIndex >	robot_model_instances
	A vector of model instance indices that identify which model instances belong to the robot. More...

ConfigurationDistanceFunction	configuration_distance_function
	Configuration (probably weighted) distance function. More...

double	edge_step_size {}
	Step size for edge checking; in units compatible with the configuration distance function. More...

double	env_collision_padding {}
	Additional padding to apply to all robot-environment collision queries. More...

double	self_collision_padding {}
	Additional padding to apply to all robot-robot self collision queries. More...

Parallelism	implicit_context_parallelism = Parallelism::Max()
	Specify how many contexts should be allocated to support collision checker implicit context parallelism. More...

Member Data Documentation

◆ configuration_distance_function

ConfigurationDistanceFunction configuration_distance_function

Configuration (probably weighted) distance function.

Note: Either a DistanceAndInterpolationProvider OR a ConfigurationDistanceFunction may be provided, not both. If neither is provided, a LinearDistanceAndInterpolationProvider with default weights is used.; the configuration_distance_function object will be copied and retained by a collision checker, so if the function has any lambda-captured data then that data must outlive the collision checker.

◆ distance_and_interpolation_provider

std::shared_ptr<const DistanceAndInterpolationProvider> distance_and_interpolation_provider

A DistanceAndInterpolationProvider to support configuration distance and interpolation operations.

Note: Either a DistanceAndInterpolationProvider OR a ConfigurationDistanceFunction may be provided, not both. If neither is provided, a LinearDistanceAndInterpolationProvider with default weights is used.

◆ edge_step_size

double edge_step_size {}

Step size for edge checking; in units compatible with the configuration distance function.

Collision checking of edges q1->q2 is performed by interpolating from q1 to q2 at edge_step_size steps and checking the interpolated configuration for collision. The value must be positive.

◆ env_collision_padding

double env_collision_padding {}

Additional padding to apply to all robot-environment collision queries.

If distance between robot and environment is less than padding, the checker reports a collision.

◆ implicit_context_parallelism

Parallelism implicit_context_parallelism = Parallelism::Max()

Specify how many contexts should be allocated to support collision checker implicit context parallelism.

Defaults to the maximum parallelism. If the specific collision checker type in use declares that it does not support parallel queries, then implicit context parallelism is set to None().

See also: Implicit Context Parallelism.

◆ model

std::unique_ptr<RobotDiagram<double> > model

A RobotDiagram model of the robot and environment.

Must not be nullptr.

◆ robot_model_instances

std::vector<drake::multibody::ModelInstanceIndex> robot_model_instances

A vector of model instance indices that identify which model instances belong to the robot.

The list must be non-empty and must not include the world model instance.

◆ self_collision_padding

double self_collision_padding {}

Additional padding to apply to all robot-robot self collision queries.

If distance between robot and itself is less than padding, the checker reports a collision.

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

drake/planning/collision_checker_params.h