40#ifndef HPP_FCL_COLLISION_H
41#define HPP_FCL_COLLISION_H
84 std::size_t res =
collide(o1, tf1, o2, tf2,
107 solver.enable_cached_guess = cached;
119 res = run(tf1, tf2, request, result);
123 res = run(tf1, tf2, request, result);
136 std::size_t res = operator()(tf1, tf2, (
const CollisionRequest&) request, result);
147 CollisionFunctionMatrix::CollisionFunc
func;
154 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
The geometry for the object for collision or distance computation.
Definition: collision_object.h:67
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:200
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shap...
Definition: collision.h:97
CollisionFunctionMatrix::CollisionFunc func
Definition: collision.h:147
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:133
virtual ~ComputeCollision()
Definition: collision.h:141
GJKSolver solver
Definition: collision.h:145
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
Default constructor from two Collision Geometries.
bool swap_geoms
Definition: collision.h:148
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
Definition: collision.h:103
CollisionGeometry const * o1
Definition: collision.h:144
#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
request to the collision algorithm
Definition: collision_data.h:210
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:232
collision result
Definition: collision_data.h:277
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 initial guess set by user
Definition: collision_data.h:145
support_func_guess_t cached_support_func_guess
the support function initial guess set by user
Definition: collision_data.h:148
void updateGuess(const QueryResult &result)
Definition: collision_data.h:190
bool enable_timings
enable timings when performing collision/distance request
Definition: collision_data.h:151
bool enable_cached_gjk_guess
whether enable gjk initial guess
Definition: collision_data.h:142
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:179
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:176
CPUTimes timings
timings for the given request
Definition: collision_data.h:182
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