hpp-fcl 2.4.5
HPP fork of FCL -- The Flexible Collision Library
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request to the collision algorithm More...
#include <hpp/fcl/collision_data.h>
Public Member Functions | |
CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_) | |
Constructor from a flag and a maximal number of contacts. | |
CollisionRequest () | |
Default constructor. | |
bool | isSatisfied (const CollisionResult &result) const |
bool | operator== (const CollisionRequest &other) const |
whether two CollisionRequest are the same or not | |
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QueryRequest () | |
Default constructor. | |
QueryRequest (const QueryRequest &other)=default | |
Copy constructor. | |
QueryRequest & | operator= (const QueryRequest &other)=default |
Copy assignment operator. | |
void | updateGuess (const QueryResult &result) |
bool | operator== (const QueryRequest &other) const |
whether two QueryRequest are the same or not | |
Public Attributes | |
size_t | num_max_contacts |
The maximum number of contacts will return. | |
bool | enable_contact |
whether the contact information (normal, penetration depth and contact position) will return | |
bool | enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint. | |
FCL_REAL | security_margin |
Distance below which objects are considered in collision. See Collision. | |
FCL_REAL | break_distance |
Distance below which bounding volumes are broken down. See Collision. | |
FCL_REAL | distance_upper_bound |
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold. | |
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GJKInitialGuess | gjk_initial_guess |
bool | enable_cached_gjk_guess |
whether enable gjk initial guess @Deprecated Use gjk_initial_guess instead | |
GJKVariant | gjk_variant |
whether to enable the Nesterov accleration of GJK | |
GJKConvergenceCriterion | gjk_convergence_criterion |
convergence criterion used to stop GJK | |
GJKConvergenceCriterionType | gjk_convergence_criterion_type |
convergence criterion used to stop GJK | |
FCL_REAL | gjk_tolerance |
tolerance for the GJK algorithm | |
size_t | gjk_max_iterations |
maximum iteration for the GJK algorithm | |
Vec3f | cached_gjk_guess |
the gjk initial guess set by user | |
support_func_guess_t | cached_support_func_guess |
the support function initial guess set by user | |
bool | enable_timings |
enable timings when performing collision/distance request | |
FCL_REAL | collision_distance_threshold |
threshold below which a collision is considered. | |
request to the collision algorithm
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inline |
Constructor from a flag and a maximal number of contacts.
[in] | flag | Collision request flag |
[in] | num_max_contacts | Maximal number of allowed contacts |
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inline |
Default constructor.
bool hpp::fcl::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
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inline |
whether two CollisionRequest are the same or not
FCL_REAL hpp::fcl::CollisionRequest::break_distance |
Distance below which bounding volumes are broken down. See Collision.
FCL_REAL hpp::fcl::CollisionRequest::distance_upper_bound |
Distance above which GJK solver makes an early stopping. GJK stops searching for the closest points when it proves that the distance between two geometries is above this threshold.
bool hpp::fcl::CollisionRequest::enable_contact |
whether the contact information (normal, penetration depth and contact position) will return
bool hpp::fcl::CollisionRequest::enable_distance_lower_bound |
Whether a lower bound on distance is returned when objects are disjoint.
size_t hpp::fcl::CollisionRequest::num_max_contacts |
The maximum number of contacts will return.
FCL_REAL hpp::fcl::CollisionRequest::security_margin |
Distance below which objects are considered in collision. See Collision.