hpp-fcl  1.6.0
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::ComputeCollision Class Reference

#include <hpp/fcl/collision.h>

Public Member Functions

 ComputeCollision (const CollisionGeometry *o1, const CollisionGeometry *o2)
 
std::size_t operator() (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result)
 
std::size_t operator() (const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result)
 

Detailed Description

This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.

ComputeCollision calc_collision (o1, o2);
std::size_t ncontacts = calc_collision(tf1, tf2, request, result);

Constructor & Destructor Documentation

◆ ComputeCollision()

hpp::fcl::ComputeCollision::ComputeCollision ( const CollisionGeometry o1,
const CollisionGeometry o2 
)

Member Function Documentation

◆ operator()() [1/2]

std::size_t hpp::fcl::ComputeCollision::operator() ( const Transform3f tf1,
const Transform3f tf2,
const CollisionRequest request,
CollisionResult result 
)
inline

◆ operator()() [2/2]

std::size_t hpp::fcl::ComputeCollision::operator() ( const Transform3f tf1,
const Transform3f tf2,
CollisionRequest request,
CollisionResult result 
)
inline

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