This package contains data type definitions that are specific robot sensing, control etc. and do thus not fit into more general categories such as dynamics or navigation.
Holds information about a collision between a robot and an object.
Code author: Daniel Seidel <dseidel@techfak.uni-bielefeld.DE>
Type : | rst.robot.RobotCollision.CollisionKind |
---|
Kind of collision.
Determines interpretation of 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.
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;
}
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;
}
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