Public Member Functions | Public Attributes | Friends | List of all members
fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Public Member Functions

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

Public Attributes

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

Friends

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

Detailed Description

collision result

Constructor & Destructor Documentation

◆ CollisionResult()

fcl::CollisionResult::CollisionResult ( )
inline

Member Function Documentation

◆ addContact()

void fcl::CollisionResult::addContact ( const Contact c)
inline

◆ addCostSource()

void fcl::CollisionResult::addCostSource ( const CostSource c,
std::size_t  num_max_cost_sources 
)
inline

◆ clear()

void fcl::CollisionResult::clear ( )
inline

clear the results obtained

◆ getContact()

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

get the i-th contact calculated

◆ getContacts()

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

get all the contacts

◆ getCostSources()

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

get all the cost sources

◆ isCollision()

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

return binary collision result

◆ numContacts()

size_t fcl::CollisionResult::numContacts ( ) const
inline

◆ numCostSources()

size_t fcl::CollisionResult::numCostSources ( ) const
inline

number of cost sources found

◆ operator==()

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

◆ invertResults

void invertResults ( CollisionResult result)
friend

reposition Contact objects when fcl inverts them during their construction.

Member Data Documentation

◆ cached_gjk_guess

Vec3f fcl::CollisionResult::cached_gjk_guess

◆ distance_lower_bound

FCL_REAL fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint.

Note
computed only on request.

Referenced by operator==().