hpp-fcl
1.7.5
HPP fork of FCL -- The Flexible Collision Library
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#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) const |
std::size_t | operator() (const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result) const |
virtual | ~ComputeCollision () |
Protected Member Functions | |
virtual std::size_t | run (const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const |
Protected Attributes | |
CollisionGeometry const * | o1 |
CollisionGeometry const * | o2 |
GJKSolver | solver |
CollisionFunctionMatrix::CollisionFunc | func |
bool | swap_geoms |
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shape-shape queries.
hpp::fcl::ComputeCollision::ComputeCollision | ( | const CollisionGeometry * | o1, |
const CollisionGeometry * | o2 | ||
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