Public Member Functions | Public Attributes | Friends
fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

List of all members.

Public Member Functions

 CollisionResult ()
void addContact (const Contact &c)
 add one contact into result structure
void addCostSource (const CostSource &c, std::size_t num_max_cost_sources)
 add one cost source into result structure
bool operator== (const CollisionResult &other) const
 whether two CollisionResult are the same or not
bool isCollision () const
 return binary collision result
size_t numContacts () const
 number of contacts found
size_t numCostSources () const
 number of cost sources found
const ContactgetContact (size_t i) const
 get the i-th contact calculated
void getContacts (std::vector< Contact > &contacts_)
 get all the contacts
void getCostSources (std::vector< CostSource > &cost_sources_)
 get all the cost sources
void clear ()
 clear the results obtained

Public Attributes

Vec3f cached_gjk_guess
FCL_REAL distance_lower_bound
 Lower bound on distance between objects if they are disjoint.

Friends

void invertResults (CollisionResult &result)
 reposition Contact objects when fcl inverts them during their construction.

Detailed Description

collision result


Constructor & Destructor Documentation

fcl::CollisionResult::CollisionResult ( ) [inline]

Member Function Documentation

void fcl::CollisionResult::addContact ( const Contact c) [inline]
void fcl::CollisionResult::addCostSource ( const CostSource c,
std::size_t  num_max_cost_sources 
) [inline]
void fcl::CollisionResult::clear ( ) [inline]

clear the results obtained

const Contact& fcl::CollisionResult::getContact ( size_t  i) const [inline]

get the i-th contact calculated

void fcl::CollisionResult::getContacts ( std::vector< Contact > &  contacts_) [inline]

get all the contacts

void fcl::CollisionResult::getCostSources ( std::vector< CostSource > &  cost_sources_) [inline]

get all the cost sources

bool fcl::CollisionResult::isCollision ( ) const [inline]

return binary collision result

size_t fcl::CollisionResult::numContacts ( ) const [inline]
size_t fcl::CollisionResult::numCostSources ( ) const [inline]

number of cost sources found

bool fcl::CollisionResult::operator== ( const CollisionResult other) const [inline]

whether two CollisionResult are the same or not

References distance_lower_bound.


Friends And Related Function Documentation

void invertResults ( CollisionResult result) [friend]

reposition Contact objects when fcl inverts them during their construction.


Member Data Documentation

Lower bound on distance between objects if they are disjoint.

Note:
computed only on request.

Referenced by operator==().

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines