40 #ifndef HPP_FCL_COLLISION_H
41 #define HPP_FCL_COLLISION_H
84 std::size_t res =
collide(o1, tf1, o2, tf2,
105 solver.enable_cached_guess = cached;
117 res = run(tf1, tf2, request, result);
121 res = run(tf1, tf2, request, result);
134 std::size_t res = operator()(tf1, tf2, (
const CollisionRequest&) request, result);
152 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
The geometry for the object for collision or distance computation.
Definition: collision_object.h:66
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:199
Definition: collision.h:97
CollisionFunctionMatrix::CollisionFunc func
Definition: collision.h:145
virtual std::size_t run(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
Definition: collision.h:131
virtual ~ComputeCollision()
Definition: collision.h:139
GJKSolver solver
Definition: collision.h:143
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
bool swap_geoms
Definition: collision.h:146
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
Definition: collision.h:101
CollisionGeometry const * o1
Definition: collision.h:139
#define HPP_FCL_DLLAPI
Definition: config.hh:64
std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
Main namespace.
Definition: AABB.h:44
std::size_t(* CollisionFunc)(const CollisionGeometry *o1, const Transform3f &tf1, const CollisionGeometry *o2, const Transform3f &tf2, const GJKSolver *nsolver, const CollisionRequest &request, CollisionResult &result)
the uniform call interface for collision: for collision, we need know
Definition: collision_func_matrix.h:61
request to the collision algorithm
Definition: collision_data.h:209
FCL_REAL distance_upper_bound
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points w...
Definition: collision_data.h:231
collision result
Definition: collision_data.h:270
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:144
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:147
void updateGuess(const QueryResult &result)
Definition: collision_data.h:189
bool enable_timings
enable timings when performing collision/distance request
Definition: collision_data.h:150
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:141
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:178
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:175
CPUTimes timings
timings for the given request
Definition: collision_data.h:181
This class mimics the way "boost/timer/timer.hpp" operates while using the modern std::chrono library...
Definition: timings.h:40
CPUTimes elapsed() const
Definition: timings.h:48