Package rst.robot

Not documented

Messages

• RobotCollision

clearer: should be made invisible via css

Message RobotCollision

class rst.robot.RobotCollision

Holds information about a collision between a robot and an object.

Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.DE>

kind

Type :rst.robot.RobotCollision.CollisionKind

Kind of collision.

Determines interpretation of collision_detail.

collision_detail

Type :rst.kinematics.ObjectCollision

Object and geometry information for the collision.

For self collisions (SELF), <Could not resolve reference to .collision_detail.object_1> and <Could not resolve reference to .collision_detail.object_2> designate the colliding parts of the robot.

For collisions with environment objects (EXTERNAL), <Could not resolve reference to .collision_detail.object_1> and <Could not resolve reference to .collision_detail.object_2> designate the colliding robot part and the environment object respectively.

Download this file

message RobotCollision {

    /**
     * Possible kinds of collisions.
     */
    enum CollisionKind {

        /**
         * Two parts of the robot collide with each other.
         */
        SELF = 1;

        /**
         * The robot collides with an environment object which is not
         * part of the robot.
         */
        EXTERNAL = 2;

        /**
         * The kind of the collision is not known.
         */
        UNKNOWN  = 3;

    }

    /**
     * Kind of collision.
     *
     * Determines interpretation of @ref .collision_detail.
     */
    required CollisionKind kind = 1;

    /**
     * Object and geometry information for the collision.
     *
     * For self collisions (@ref .CollisionKind.SELF), @ref
     * .collision_detail.object_1 and @ref .collision_detail.object_2
     * designate the colliding parts of the robot.
     *
     * For collisions with environment objects (@ref
     * .CollisionKind.EXTERNAL), @ref .collision_detail.object_1 and
     * @ref .collision_detail.object_2 designate the colliding robot
     * part and the environment object respectively.
     */
    required kinematics.ObjectCollision collision_detail = 2;

}

Message CollisionKind

class rst.robot.RobotCollision.CollisionKind

Possible kinds of collisions.

SELF

= 1

Two parts of the robot collide with each other.

EXTERNAL

= 2

The robot collides with an environment object which is not part of the robot.

UNKNOWN

= 3

The kind of the collision is not known.

Download this file

    enum CollisionKind {

        /**
         * Two parts of the robot collide with each other.
         */
        SELF = 1;

        /**
         * The robot collides with an environment object which is not
         * part of the robot.
         */
        EXTERNAL = 2;

        /**
         * The kind of the collision is not known.
         */
        UNKNOWN  = 3;

    }