hpp-fcl  1.6.0
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::CollisionRequest Struct Reference

request to the collision algorithm More...

#include <hpp/fcl/collision_data.h>

Inheritance diagram for hpp::fcl::CollisionRequest:
Collaboration diagram for hpp::fcl::CollisionRequest:

Public Member Functions

 CollisionRequest (const CollisionRequestFlag flag, size_t num_max_contacts_)
 
 CollisionRequest ()
 
bool isSatisfied (const CollisionResult &result) const
 
bool operator== (const CollisionRequest &other) const
 whether two CollisionRequest are the same or not More...
 
- Public Member Functions inherited from hpp::fcl::QueryRequest
 QueryRequest ()
 
void updateGuess (const QueryResult &result)
 
bool operator== (const QueryRequest &other) const
 whether two QueryRequest are the same or not More...
 

Public Attributes

size_t num_max_contacts
 The maximum number of contacts will return. More...
 
bool enable_contact
 whether the contact information (normal, penetration depth and contact position) will return More...
 
bool enable_distance_lower_bound
 Whether a lower bound on distance is returned when objects are disjoint. More...
 
FCL_REAL security_margin
 Distance below which objects are considered in collision. See Collision detection and distance lower bound. More...
 
FCL_REAL break_distance
 Distance below which bounding volumes are broken down. See Collision detection and distance lower bound. More...
 
- Public Attributes inherited from hpp::fcl::QueryRequest
bool enable_cached_gjk_guess
 whether enable gjk intial guess More...
 
Vec3f cached_gjk_guess
 the gjk intial guess set by user More...
 
support_func_guess_t cached_support_func_guess
 the support function intial guess set by user More...
 

Detailed Description

request to the collision algorithm

Constructor & Destructor Documentation

◆ CollisionRequest() [1/2]

hpp::fcl::CollisionRequest::CollisionRequest ( const CollisionRequestFlag  flag,
size_t  num_max_contacts_ 
)
inlineexplicit

◆ CollisionRequest() [2/2]

hpp::fcl::CollisionRequest::CollisionRequest ( )
inline

Member Function Documentation

◆ isSatisfied()

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

◆ operator==()

bool hpp::fcl::CollisionRequest::operator== ( const CollisionRequest other) const
inline

whether two CollisionRequest are the same or not

Member Data Documentation

◆ break_distance

FCL_REAL hpp::fcl::CollisionRequest::break_distance

Distance below which bounding volumes are broken down. See Collision detection and distance lower bound.

◆ enable_contact

bool hpp::fcl::CollisionRequest::enable_contact

whether the contact information (normal, penetration depth and contact position) will return

◆ enable_distance_lower_bound

bool hpp::fcl::CollisionRequest::enable_distance_lower_bound

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

◆ num_max_contacts

size_t hpp::fcl::CollisionRequest::num_max_contacts

The maximum number of contacts will return.

◆ security_margin

FCL_REAL hpp::fcl::CollisionRequest::security_margin

Distance below which objects are considered in collision. See Collision detection and distance lower bound.


The documentation for this struct was generated from the following file: