Public Member Functions | Public Attributes
fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

List of all members.

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_INDEP)
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

Detailed Description

request to the collision algorithm


Constructor & Destructor Documentation

fcl::CollisionRequest::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_INDEP 
) [inline]

Member Function Documentation

bool fcl::CollisionRequest::isSatisfied ( const CollisionResult result) const

Member Data Documentation

the gjk intial guess set by user

Referenced by CollisionRequest().

whether enable gjk intial guess

Referenced by CollisionRequest().

Whether a lower bound on distance is returned when objects are disjoint.

narrow phase solver

whether the cost computation is approximated

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines