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hpp-fcl 1.8.0
HPP fork of FCL -- The Flexible Collision Library
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request to the collision algorithm More...
#include <hpp/fcl/collision_data.h>
Public Member Functions | |
| CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_) | |
| Constructor from a flag and a maximal number of contacts. More... | |
| CollisionRequest () | |
| Default constructor. More... | |
| bool | isSatisfied (const CollisionResult &result) const |
| bool | operator== (const CollisionRequest &other) const |
| whether two CollisionRequest are the same or not More... | |
Public Member Functions inherited from hpp::fcl::QueryRequest | |
| QueryRequest () | |
| void | updateGuess (const QueryResult &result) |
| bool | operator== (const QueryRequest &other) const |
| whether two QueryRequest are the same or not More... | |
Public Attributes | |
| size_t | num_max_contacts |
| The maximum number of contacts will return. More... | |
| bool | enable_contact |
| whether the contact information (normal, penetration depth and contact position) will return More... | |
| bool | enable_distance_lower_bound |
| Whether a lower bound on distance is returned when objects are disjoint. More... | |
| FCL_REAL | security_margin |
| Distance below which objects are considered in collision. See Collision detection and distance lower bound. More... | |
| FCL_REAL | break_distance |
| Distance below which bounding volumes are broken down. See Collision detection and distance lower bound. More... | |
| FCL_REAL | distance_upper_bound |
| Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold. More... | |
Public Attributes inherited from hpp::fcl::QueryRequest | |
| bool | enable_cached_gjk_guess |
| whether enable gjk intial guess More... | |
| Vec3f | cached_gjk_guess |
| the gjk intial guess set by user More... | |
| support_func_guess_t | cached_support_func_guess |
| the support function intial guess set by user More... | |
| bool | enable_timings |
| enable timings when performing collision/distance request More... | |
request to the collision algorithm
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inline |
Constructor from a flag and a maximal number of contacts.
| [in] | flag | Collision request flag |
| [in] | num_max_contacts | Maximal number of allowad contacts |
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inline |
Default constructor.
| bool hpp::fcl::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
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inline |
whether two CollisionRequest are the same or not
| FCL_REAL hpp::fcl::CollisionRequest::break_distance |
Distance below which bounding volumes are broken down. See Collision detection and distance lower bound.
| FCL_REAL hpp::fcl::CollisionRequest::distance_upper_bound |
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold.
| bool hpp::fcl::CollisionRequest::enable_contact |
whether the contact information (normal, penetration depth and contact position) will return
| bool hpp::fcl::CollisionRequest::enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint.
| size_t hpp::fcl::CollisionRequest::num_max_contacts |
The maximum number of contacts will return.
| FCL_REAL hpp::fcl::CollisionRequest::security_margin |
Distance below which objects are considered in collision. See Collision detection and distance lower bound.