hpp-fcl  1.7.1
HPP fork of FCL -- The Flexible Collision Library
hpp::fcl::CollisionResult Struct Reference

collision result More...

#include <hpp/fcl/collision_data.h>

Inheritance diagram for hpp::fcl::CollisionResult:
Collaboration diagram for hpp::fcl::CollisionResult:

Public Member Functions

 CollisionResult ()
 
void updateDistanceLowerBound (const FCL_REAL &distance_lower_bound_)
 Update the lower bound only if the distance in inferior. More...
 
void addContact (const Contact &c)
 add one contact 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...
 
const ContactgetContact (size_t i) const
 get the i-th contact calculated More...
 
void getContacts (std::vector< Contact > &contacts_) const
 get all the contacts More...
 
const std::vector< Contact > & getContacts () const
 
void clear ()
 clear the results obtained More...
 
void swapObjects ()
 reposition Contact objects when fcl inverts them during their construction. More...
 
- Public Member Functions inherited from hpp::fcl::QueryResult
 QueryResult ()
 

Public Attributes

FCL_REAL distance_lower_bound
 
- Public Attributes inherited from hpp::fcl::QueryResult
Vec3f cached_gjk_guess
 stores the last GJK ray when relevant. More...
 
support_func_guess_t cached_support_func_guess
 stores the last support function vertex index, when relevant. More...
 
CPUTimes timings
 timings for the given request More...
 

Detailed Description

collision result

Constructor & Destructor Documentation

◆ CollisionResult()

hpp::fcl::CollisionResult::CollisionResult ( )
inline

Member Function Documentation

◆ addContact()

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

add one contact into result structure

◆ clear()

void hpp::fcl::CollisionResult::clear ( )
inline

clear the results obtained

◆ getContact()

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

get the i-th contact calculated

◆ getContacts() [1/2]

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

get all the contacts

◆ getContacts() [2/2]

const std::vector<Contact>& hpp::fcl::CollisionResult::getContacts ( ) const
inline

◆ isCollision()

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

return binary collision result

◆ numContacts()

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

number of contacts found

◆ operator==()

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

whether two CollisionResult are the same or not

◆ swapObjects()

void hpp::fcl::CollisionResult::swapObjects ( )

reposition Contact objects when fcl inverts them during their construction.

◆ updateDistanceLowerBound()

void hpp::fcl::CollisionResult::updateDistanceLowerBound ( const FCL_REAL distance_lower_bound_)
inline

Update the lower bound only if the distance in inferior.

Member Data Documentation

◆ distance_lower_bound

FCL_REAL hpp::fcl::CollisionResult::distance_lower_bound

Lower bound on distance between objects if they are disjoint. See Collision detection and distance lower bound

Note
computed only on request (or if it does not add any computational overhead).

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