39#ifndef HPP_FCL_COLLISION_H
40#define HPP_FCL_COLLISION_H
122 return o1 == other.
o1 && o2 == other.
o2 && solver == other.
solver;
126 return !(*
this == other);
141 CollisionFunctionMatrix::CollisionFunc
func;
149 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
The geometry for the object for collision or distance computation.
Definition: collision_object.h:95
the object for collision or distance computation, contains the geometry and the transform information
Definition: collision_object.h:215
This class reduces the cost of identifying the geometry pair. This is mostly useful for repeated shap...
Definition: collision.h:103
CollisionFunctionMatrix::CollisionFunc func
Definition: collision.h:141
virtual std::size_t run(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
bool operator!=(const ComputeCollision &other) const
Definition: collision.h:125
const CollisionGeometry * o2
Definition: collision.h:137
bool operator==(const ComputeCollision &other) const
Definition: collision.h:121
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, CollisionRequest &request, CollisionResult &result) const
Definition: collision.h:112
virtual ~ComputeCollision()
Definition: collision.h:129
GJKSolver solver
Definition: collision.h:139
ComputeCollision(const CollisionGeometry *o1, const CollisionGeometry *o2)
Default constructor from two Collision Geometries.
const CollisionGeometry * o1
Definition: collision.h:136
bool swap_geoms
Definition: collision.h:142
std::size_t operator()(const Transform3f &tf1, const Transform3f &tf2, const CollisionRequest &request, CollisionResult &result) const
#define HPP_FCL_DLLAPI
Definition: config.hh:88
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: broadphase_bruteforce.h:44
request to the collision algorithm
Definition: collision_data.h:235
collision result
Definition: collision_data.h:302
collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the ...
Definition: narrowphase.h:54
void updateGuess(const QueryResult &result)
Definition: collision_data.h:210