request to the collision algorithm More...
#include <hpp/fcl/collision_data.h>
Public Member Functions | |
CollisionRequest (size_t num_max_contacts_=1, bool enable_contact_=false, bool enable_distance_lower_bound_=false, size_t num_max_cost_sources_=1, bool enable_cost_=false, bool use_approximate_cost_=true, GJKSolverType gjk_solver_type_=GST_LIBCCD) | |
bool | isSatisfied (const CollisionResult &result) const |
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. | |
size_t | num_max_cost_sources |
The maximum number of cost sources will return. | |
bool | enable_cost |
whether the cost sources will be computed | |
bool | use_approximate_cost |
whether the cost computation is approximated | |
GJKSolverType | gjk_solver_type |
narrow phase solver | |
bool | enable_cached_gjk_guess |
whether enable gjk intial guess | |
Vec3f | cached_gjk_guess |
the gjk intial guess set by user |
request to the collision algorithm
fcl::CollisionRequest::CollisionRequest | ( | size_t | num_max_contacts_ = 1 , |
bool | enable_contact_ = false , |
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bool | enable_distance_lower_bound_ = false , |
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size_t | num_max_cost_sources_ = 1 , |
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bool | enable_cost_ = false , |
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bool | use_approximate_cost_ = true , |
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GJKSolverType | gjk_solver_type_ = GST_LIBCCD |
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) | [inline] |
References cached_gjk_guess, and enable_cached_gjk_guess.
bool fcl::CollisionRequest::isSatisfied | ( | const CollisionResult & | result | ) | const |
the gjk intial guess set by user
Referenced by CollisionRequest().
whether enable gjk intial guess
Referenced by CollisionRequest().
whether the contact information (normal, penetration depth and contact position) will return
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
whether the cost sources will be computed
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
Whether a lower bound on distance is returned when objects are disjoint.
narrow phase solver
The maximum number of contacts will return.
Referenced by fcl::MeshContinuousCollisionTraversalNode< BV >::canStop(), fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
The maximum number of cost sources will return.
Referenced by fcl::ShapeCollisionTraversalNode< S1, S2, NarrowPhaseSolver >::leafTesting(), fcl::MeshCollisionTraversalNode< OBBRSS >::leafTesting(), fcl::MeshShapeCollisionTraversalNode< OBBRSS, S, NarrowPhaseSolver >::leafTesting(), and fcl::ShapeMeshCollisionTraversalNode< S, kIOS, NarrowPhaseSolver >::leafTesting().
whether the cost computation is approximated