.. _package-rst-robot:
===================
Package rst.robot
===================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"1" [label=< | RobotCollision |
|
| CollisionKind | kind |
| ObjectCollision | collision_detail |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | ObjectCollision |
|
| CollisionGeometry | geometry |
| ASCII-STRING | object_1 |
| ASCII-STRING | object_2 |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | CollisionGeometry |
|
| Translation | contact_points |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | CollisionKind |
|
| SELF | 1 |
| EXTERNAL | 2 |
| UNKNOWN | 3 |
>,shape=box,style=filled,fillcolor="white"];
"1" -> "2" [dir=both,arrowtail=odiamond];
"1":collision_detail -> "3" [];
"1":kind -> "2" [];
"3":geometry -> "4" [];
"4":contact_points -> "5" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`RobotCollision `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-robot-robotcollision:
Message RobotCollision
----------------------
.. container:: message-rst-robot-robotcollision-multi
.. container:: message-rst-robot-robotcollision-documentation
.. py:class:: rst.robot.RobotCollision
Holds information about a collision between a robot and an object.
.. codeauthor:: Daniel Seidel
.. py:attribute:: kind
:type: :py:class:`rst.robot.RobotCollision.CollisionKind`
Kind of collision.
Determines interpretation of :py:attr:`collision_detail `.
.. py:attribute:: collision_detail
:type: :py:class:`rst.kinematics.ObjectCollision`
Object and geometry information for the collision.
For self collisions (:py:attr:`SELF `), and
designate the colliding parts of the robot.
For collisions with environment objects (:py:attr:`EXTERNAL `), and
designate the colliding robot
part and the environment object respectively.
.. container:: message-rst-robot-robotcollision-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/robot/RobotCollision.proto
:lines: 12-58
:language: protobuf
:emphasize-lines: 31-31,45-45
.. _message-rst-robot-robotcollision-collisionkind:
Message CollisionKind
---------------------
.. container:: message-rst-robot-robotcollision-collisionkind-multi
.. container:: message-rst-robot-robotcollision-collisionkind-documentation
.. py:class:: rst.robot.RobotCollision.CollisionKind
Possible kinds of collisions.
.. py:attribute:: SELF
= 1
Two parts of the robot collide with each other.
.. py:attribute:: EXTERNAL
= 2
The robot collides with an environment object which is not
part of the robot.
.. py:attribute:: UNKNOWN
= 3
The kind of the collision is not known.
.. container:: message-rst-robot-robotcollision-collisionkind-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.10-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/robot/RobotCollision.proto
:lines: 17-35
:language: protobuf
:emphasize-lines: 6-6,12-12,17-17